Research And Design On The Bottom Control System For Soccer Robot In Robocup Middle-size League

Soccer robot has beeome one of the hot subjeets in the field of robot researehing, which refers to many kinds of advanced research in different fields, such as Roboties, Meehatronics, Communication and Computer Teehnology, Machine Vision and Sensor Fusion Decision-Making and Countermeasure, Intelligent Control ete. It is a research platform, which is full of high technologies and challenge. So far, it has been focused by many research institutes and colleges, more and more researchers and scholars pay attention to it.The bottom control of soccer robot plays a vital role in soccer robot game. It is basis of the more high-level action and overall decision-making system. Bottom control system is an operative part in soccer robot system, the performance of which directly affects the performance of the entire soccer robot system. The movement of soccer robot body, visual body and kick ball are designed and analyzed in the frame work, so that the Kinematics model of robot is obtained. In order to improve the control performance of the underlying system, the bottom of robot control algorithm is deeply researched in this paper. According to the structural characteristics of the robot and the game needs, the integral separated PID control method combined with sub-switch control is analyzed and tested excellent and effective.In order to keep autonomous soccer robot autonomy, and easily respond to the change of environmen, it must make the robot with the ability of sensing the environment, the system developed ultrasonic sensors which is used on autonomous robot soccer goalkeeper, so that the goalkeeper in campaign process can maintain parallel with the goal.