The Null-Space-Based method is a behavior-based fuzzy logic method. This paper studies the control problem of soccer robots based on the Null-Space-Based method. Taking obstacle-avoiding and forward-moving as an example, we deduce the task output function for the omni-directional motion robot of RoboCup Middle Size League by utilizing the Null-Space-Based method in a 3D space. Finaly the simulation validates our deduction. Compared with other traditional methods, this method can ensure thoroughly the accomplishment of high-priority tasks, make the best use of null-space to perform low-priority tasks and effectively avoid the conflicts between the tasks, which leads to taking full advantages of the omni-direction motion platform.%基于零空间方法是一种基于行为的模糊逻辑法,本文主要研究了基于零空间方法( NullSpace-Based)的足球机器人控制问题.针对RoboCup中型组中的全向运动机器人,以完成避障前进任务为例,推导了三维空间中基于零空间方法的任务输出函数.仿真实验证明了该方法的有效性,与其它基于行为的方法相比,该方法能在保证高优先级任务顺利完成的前提下,充分地利用高优先级任务的零空间完成低优先级任务,有效地避免了任务间的冲突,更充分地发挥全向移动平台的优势.
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