| Summary: | 碩士 === 南台科技大學 === 電機工程系 === 99 === This thesis focuses on the design of robot soccer strategies, particularly in the task assignment and path design. In this thesis, we use fuzzy controllers to determine the task assignment and action mode for each robot. Based on the distance and angle between the robot and the target, the fuzzy controller assigns the task of each robot and controls the movement of robot wheels.
On task assignment, we propose shooting mode and obstacle avoidance mode to improve scoring rate for our robot. On the path planning, novel genetic-particle swarm optimization (GPSO) algorithm was adopted to adjust our robot path and to seek the balance between the optimal path and speed. Finally, we demonstrate the efficacy of our design in FIRA simulation platform
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