Optimal Time And Path Control For Moving To Target Point Of Two Wheeled Autonomous Middle-Sized Soccer Robot

Moving to target point of two wheeled Autonomous Soccer Robot is a typical motion control problem. Fast and stable movement is very important for other applications since it decides the effectiveness of upper-level strategies directly. The performance of the motion control has a big impact on system.But by now those most existed motion controls of moving to target point haven't been analyzed deeply, which only aim to get the motion done, and quantitative analysis of performance hasn't been proposed; someone who has done analysis also doesn't have quantitative research and ignores the integration of some important factors. And at the same time these motion simulation systems can't reflect the real systems exactly mainly because the complicated motor and drive module is simplified.So it's not only hard to judge some important performances in quantitative analysis but also hard to apply the result of simulation to controller in the real system. Thus quantitative analysis of motion performance is highly needed since then we can analyze motion in quantitative and contrast with different controllers scientifically based on this method. And we can use the results in the real system better based on the accurate robot motion simulation system which was already made by others in the RoboCup middle-sized two wheeled Autonomous Soccer Robot team of Chongqing University.Under such background, this dissertation mainly works as follows:①This paper proposed the specific quantitative performances at first, designed optimal time, optimal path and both of them respectively as fitness function by applying Genetic Algorithm (GA). In order to test the effectiveness of the method designed above, we used proportion controller which is common used to realize the optimal performances motion control as required. The result shows the method is useful since we can do related research in quantitative analysis.②In order to design optimal controller, considering the complexity of two wheeled robot, we used SMIC-HSIC (Human simulated Intelligence Control based on Sensory-Motor Intelligence Schema), because it has intelligence in control and has the capability to use different controllers according to different models. The experiment is designed and realized with SMIC-HSIC theory.③We used the same method based on optimal time and path to get optimal parameters of HSIC, and compared the control effect of HSIC with proportion controller. Had experiments for moving to target point by using real robot platform and analyzed the data recorded by mile meter, the result validated the effectiveness of getting optimized parameters by GA based on specific fitness function. And also it can illustrate the advantage of SMIC-HSIC.