Research On Attack And Defense Control Of Martialarts Competition Robot Based On Kinodynamics

Autonomous mobility is a very critical issue in the research of intelligent mobile robots.It is very important to make anaccurate and quick response to the surrounding environment, and to avoid the obstacles in real time and move to the destination without interruption in the process of moving. The research of path planning and obstacle avoidance algorithm is one of the key points.In recent years,with the encouragement to the robot industry and students’ innovation practiceby the state,China robot competition attracted more and more attention. As an important project with Chinese characteristics, martialartscompetition need to use research of autonomous mobility into practice, especially path planning and obstacle avoidancein the process of moving.Most existing path planning and obstacle avoidance algorithm do not consider kinodynamicsrestrictions and geometric parameters of the robot, which exists physical feasibility and generic issue in the actual robot application. Current attack and defense controlstrategy of martial arts competitionrobot mainly depends on experience and try, which exists problems of accuracy and flexibility. In light of this, a kinodynamic model based on virtual force is presented and applied on the martialarts competitionrobot to develop anattack and defense controlstrategy integrating attack with defensein this paper. The main work of this paper is as follows:(1)The structure and system of martial arts competitionrobotare designed. The overall structure, control systems, sensor systems, motor drive module and bluetooth serial module are analyzed.(2)A kinodynamic modeling method based on virtual force control is given, which takes into account the geometry parameters(each parameter has a clear physical meaning) and thekinodynamics restrictions of martial arts competition robot.The parameter sensitivity analysis is carried out, and the motion controller is constructed.(3) An attack and defense controlstrategy of martial arts competitionrobot based on motion modeling is formulated. Anattack and defense controlmodel integrating attack with defensein the process of moving is constructed.(4)The simulation and the actual robot experiment are completed. The experimental results are analyzed, and the improved schemesare proposed.The experimental results demonstrate that the motion model proposed in this paper can help the robotaccomplish the task of obstacle avoidance planning. The attack and defense controlmodel based on motion modelingcan effectively improve the obstacle avoidance efficiency and strength of attack and defense of martial arts competitionrobot, and can enhance competitiveness of confrontation.