The Design And Perfect Of The Movement Control System Of The Autonomous Soccer Robot

As the result of the combination of sport and high tech, the robot football has drew scientists and youngsters from all of the world to take part in, for its incorporation of scientific research, education and entertainment.The research of autonomous football robot relates to such key technologies as machine vision, wireless communication, incorporation of machine and electricity, intelligent control, simulation, integer of software and hardware, man-made bionomy, interface of man and machine, and so on, these key technologies have very important practical value to the development of our nation's robot career, and for this reason, they have gotten more and more attention.The robot can not have "eye" and "leg", if it is to kick ball, which means that the robot needs to install vision equipment and moving mechanism, however, due to the limit of the technology level at the present time, the robot has not install two legs, so the function of legs has to be replaced by the wheels driven by motors, the result is, the robot needs to install other mechanisms to realize the function of "kicking ball" and "protecting ball". Meanwhile, the power is also one of the indispensable mechanisms to the robot, the robot can not complete the game, if there is nothing in its "stomach". The narration about these mechanisms is put to chapter two.The robot can not have the control system, if it is to realize the action of "moving", "shooting", "protecting ball", which are the orders of decision-making. The performance of servo control system affects directly the perfection degree of the completion of these actions; besides, the servo control system needs to "tell" decision-making such very important information as how far the obstacle is, how far the robot has moved during the past time. We can say that the servo control system is the key to the whole control system. The narration about the servo control system is put to chapter three.As one of the outer "sense organ" of the robot, the distance measuring sensor, just like man's feeling, can "feel" the obstacle in front of the robot, however, compared to man's...