The Research Of Robocup Small Size Robot Control Strategy

Robocup is the international high technology activity rapidly develops in the recently years, and has a huge research meaning in the production,study and research fields. It contains many technologies such as mechanism designing, automation, wireless communication, image identify, artificial intelligence and so on, and has already become a hotspot in the robot researching field. The result of soccer robot reflects the integrative ability of a team in all relative subjects, and the robot's performance is the whole team's base.Firstly, this paper use Robocup small size soccer robot as technical platform, expatiate the significance of the soccer robot games, and analyze the course and actuality of the soccer robot at home and abroad. Known the aim and demands of the soccer robot's control system algorithm through the rules of the game.Then this paper from the distribution of wheels as the beginning to research the omni directional robot's bottom kinematics, get the relationship between the position and stance of robot in the game field and the acceleration and velocity of the robot. Use MATLAB to simulate the robot moving, and get the maximum acceleration which provides the theoretic foundation to the robot control.The problem point is the control errors due to the mechanical centroid skewing, analyze the acceleration and velocity model before there is no skid, then use the linear programming to optimize the motor's distribution. At last, using small size four wheeled common butterfly robot as the experiment object to calculate the each motor's effort proportion when the maximum of the three-dimensional orientation.Then the paper describes the robot's kinetical control algorithm. For the upper control algorithm, build the "echelon kinetical model" that base on the "displacement priority" rule, time is the calculation frequency brand, and the bottom system gets the velocity from the upper system, then use the global increment PID and Bang-Bang control to control the robot's moving, make the robot could quickly arrive the aim position and stance. Then describe some key problems when the centroid skewing, and combine the upper camera and kinematic control algorithm to test and analysiz the kinetical trajectory.