The Research Of Motion Control System For Four Omni-directional Mobile Soccer Robot

As one of the greatest inventions in human beings,robot always get researchers’s attention at home and abroad, and research soccer robot is undoubtedly one of the most challenging of intelligent robot research subject. It covers the automatic control,computer, electronic intelligent control theory, the sensor technology and so on,so that the research of soccer robot has become to be focus in the artificial intelligence and robotics research. The Middle-size league of RoboCup that hold once a year is typical platform of robot soccer game.The game not only reflects high-tech apply in entertainment,but also as a window that foster talents in Artificial Intelligence and automation.Meanwhile,it is a effective way to improve the progress of science, the research is significance far-reaching and significant.In recent years, with the game in a hotness, attracting more and more domestic and international university who put more manpower material resources into the game, and the level of every team also increases year by year. But in the process of game,soccer robot often happens some condition like:interrupt by control, start and brake slower, can’t arrive at the scheduled position, start torque lesser, speed lesser, the precision of the action and so on.If soccer robot wants to complete task in the game, it must have a control system that with a high control accuracy and good stability. Robot soccer movement control is mean that control soccer robot to move in advance in accordance with the planned trajectory, motion control system directly impact on performance.By collecting relevant information on the research of motion control system and development tendency at home and abroad,this paper analyse and synthesize those material fully. On this basis, combining with the research of motion control system for four Omni-directional mobile soccer robot where I did in my laboratory, do in-depth research and development in the motion control of the robot. In this paper the main research contents are as follows:(1)The design of structure and hardware for the motion control system Analyzes the hardware design requirements of the omnidirectional mobile round robot control system, the football the movement control system use DsPIC controller as its structure. Expounds related hardware parts function module’s principle of work in the motion control system of four Omni-directional mobile soccer robot. Hardware module mainly includes:dc motor control module, four-wheel speed distribution module, dc electrical motor driving module, interface of motor coding dish module, serial port communication module, power modules, electronic compass, the gyroscope, acceleration sensor and dribbling institutions.(2) Research of Robot Single Freedom Movement ControlBecause the operation process of dc motor control system with nonlinear and deformation, traditional control method can not meet its control requirements, so this paper use BP neural network PID controller to control robot single freedom movement,PID controller can adjust three parameters by using neural network self-learning online, so as to achieve the control requirements.(3) Research of Robot Four-wheel Motion ControlEstablish the kinematics model of robot, and change the overall speed based on fuzzy control, let general speed error change into error of single wheel eventually. And final output results of control system which has error compensation controller or not will be compared through the experimental,so method is feasible and practical.The last is summarized, and list research results, also show the place where need improvement during the research.