Research On Path Planning And Trajectory Tracking Of Robocup Soccer Robots

As a typical multi-agent system, robot soccer system is an important research subject in the field of artificial intelligence. It has aroused great attention of many people in academic area. Autonomous soccer robot system is a special kind of soccer robot systems. Among the researches on autonomous soccer robot, the path planning in the dynamic uncertain environment is an important part, and it is also a hotspot in the robot research areas. While the path planning problem under multi-obstacle environment, especially in the dynamic environment of obstacles, is a complicated issue. Many achievements have been obtained, but there are still some problems to be settled.Based on Robocup autonomous soccer robot, some researches in the path planning problem and trajectory tracking problem are did. The main works are as follows.First of all, the background and meaning of the research subject are summarized. The construction and components of the soccer robot system are introduced.Secondly, this thesis analyses two common methods in path planning, including the shortest tangent method and grid modeling method. And their applications in soccer robot system are discussed. This thesis analyses the traditional artificial potential field in the soccer robot path planning as well as the advantages and disadvantages of the method. Concerning the local minimum problem and goals no reachable with obstacle nearby problem, an improved artificial potential field method is proposed, through the change of the potential field function of repulsive force. The method is then applied to the basis path planning subsystem and the boundary path planning subsystem. The simulation result proves the efficiency of the method.Thirdly, a tracking control strategy is designed based on Lyapunov method. With this method, the robot fulfills to track the planning trajectory. Using the Matlab platform, the proposed control law is validated by tracking the path of straight-line and round trajectory. Simulation results show the effectiveness of the controller law, and achieve well performance.Finally, the thesis is summarized, and future research is viewed.