Action Design and Implementation Based on Micro Soccer Robot

摘要：

Micro Soccer Robot is a two-wheeled robot, and it has been the focus in the field of robotics research for its structural and action characteristic. This paper describes motion control system of soccer robot, proposes a kinematics model and sets the model according to moving environment of soccer robot. In decision-making system, action design tends to calculate speeds of robots left and right wheels when it runs. And motion controller executes motion commands to fulfil its role-playing. The paper presents several algorithms for controlling soccer robot to reach a target location with the shortest trajectory and optimizes its control parameters to further improve action precision and accuracy of soccer robot. Simulation and analysis are conducted to insure shorter moving trajectory, stability and better performance of soccer robot. The result shows that the proposed control algorithm is applicable for MiroSot competition system.

关键词： soccer robot visual system closed-loop control control algorithm

作者: Dong-liang Li Hai-hua Wang

作者单位: Faculty of Information Engineering JIAOZUO University Jiaozuo, Henanprinvice,454003, China Faculty of Information Engineering JIAOZUO University Jiaozuo, Henan prinvice.454003, China

会议类型: 国际会议

会议名称: 2010 Third International Symposium on Knowledge Acquisition and Modeling(第三届知识获取与建模国际研讨会 KAN 2010)

会议地点: 武汉

会议语种:英文

页码: 217-220

在线出版日期: 2010-10-20（万方平台首次上网日期，不代表论文的发表时间）