Study On The Motion Control And Trajectory Tracking Algorithm Of Omni-directional Robot

Robot soccer relates to many fields such as artificial intelligence, computer technology, wireless communication, image processing, machinery & electronics and information fusion etc. As a good study bed, robot soccer has been focused by more and more research institutes and colleges.The thesis was designed for application in the middle-size league of RoboCup, and presents the research on three key technologies of motion control system, soccer robot intercept ball and soccer robot dribbling. A main works of the thesis were as follows:( 1 ) Introduced a software and hardware architecture of MT-OR three omni-directional robot motion control system and the competition of middle-size league of RoboCup.( 2 ) Analysis a basic motion characteristics of the robot , created a three-wheeled omni-directional robot kinematics model. Taking into account robot's motion in dribbling state, created a motion model in dribbling state.(3)In medium-sized group of RoboCup soccer robot game, intercept ball required fast and accurate. By analysis of the robot intercept ball, and forecast the movement trend of the ball, increase a speed to around the former. For robot's forward speed and self-rotation speed to use expert PID control, achieved robot intercept ball from the front of the ball.(4)Use a created motion model in dribbling state with intelligent preview control. Designed a preview control trajectory tracking method for RoboCup soccer robot dribbling. For robot's forward speed and self-rotation speed to use expert PID control, realized soccer robot's trajectory tracking.Simulation and experiments results indicate that these ways are possible. Finally, summarizes the full-text. Clarified the focus of the study and the main research results.