基于两阶段多目标模糊决策乒乓球机器人击球点选择.PDF

30 5 Vol. 30 No. 5 2013 5 Control Theory Applications May 2013 DOI: 10.7641/CTA.2013.20907 , , , (1. , 100190; 2. , 100190) : , , , . . , . , . , , 3, . . , , , . : ; ; ; ; : TP273 : A Striking position selection based on two-step multi-purpose fuzzy decision method for robotic table tennis SU Hu , XU De , CHEN Guo-dong , FANG Zao-jun (1. State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China; 2. Research Center of Precision Sensing and Control, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China) Abstract: For robotic table tennis, selecting the optimal striking position in the returning process according to the ball’s trajectory, not only reduces the difficulties in returning the coming ball, but also increases the returnable success rate. A two-step multi-purpose fuzzy decision making method is proposed for striking-position selection. Firstly, according to robot’s optimum range of motion and the coming ball’s velocity, the searching region containing the striking position is determined. Then, the positions of the ball in the searching region are regarded as decision-making universe. In the universe, the desired outgoing velocity is respectively calculated with the target returning parameters. Three energy functions are defined based on the parameters of racket, representing energetic and momentum changes of the ping-pong ball in the striking process. The func