Research On Movement Control Of Micro-Soccer Robot

Soccer robot has become one of the hot subjects in the field of robot researching, which refers to many kinds of advanced research in different fields, such as Robotics, Mechatronics, Communication and Computer Technology, Machine Vision and Sensor Fusion Decision-making and Countermeasure, Intelligent Control etc. It is a research platform which is full of high technologies and challenge.This paper takes Mirosot robot 3vs3 as the research object. Firstly, the constitute of Soccer robot system and image pre-processing are introduced. In order to save the time of image processing, the moving object is searched using dynamic window based on connectivity region labeling, which could save 98% time consuming and meet the requirement of real time compared with full-searching method.Based on the theoretical analysis of robot motion, PID control algorithm is used to track ball,and according to it's shortcoming,Fuzzy-PID control method is proposed.Also,Fuzzy-PID combined control and Fuzzy adaptive PID control are analyzed and Simulated to test validity.We compare with some methods of path-planning.Bezier curve is applied to achieve our desired plan. In order to predict the plan of ball, adaptive Kalman filter is introduced to reduce the error caused by system delay. Simulated result proves the feasibility.