Research Of Motion Control System For Autonomous Soccer Robot

As one of the greatest inventions in human beings so far, robot has made great contribution for the human production and life. Because of the need to improve the automation level, the requirements of the robot for the human improved continuously, the human paid more and more attention on the research of robot, so the research and development of autonomous robot becomes more important and urgent. In recent years, the RoboCup like a raging fire, as a typical robot intelligent control system, the autonomous soccer robot platform has become a research focus in the field of robot and artificial intelligence. Each soccer robot has independent machine vision system, wireless communication system, decision making and planning system and the motion control system, robot gets information exchange and coordination and cooperation through wireless communication between each other. Autonomous soccer robot competition system can serve as a comprehensive subject to study, it not only involved communication technology, machine vision, computer graphics, artificial intelligence, etc, also incorporates robotics, mechanical electronics, sensor, intelligent control study subjects technology. It provides a standard and open platform for distributed artificial intelligence research, promoted integration and development of the multidisciplinary, has a very high theoretical research value and practical application value.Autonomous soccer robot competition is full of strong against and change. If you want to win the game, your robots need to have a good motion performance, high reliability of the motion control system. However, research found in the match of medium-sized group of RoboCup soccer robot in recent years, the questions such as low movement control accuracy, bad stability, long start and brake time are widespread in autonomous soccer robot motion control system. Motion control system control quality directly decided the whole autonomous soccer robot system control effect is good or bad, it also determined the soccer robot can get ideal achievements in the game or not, so to speak, motion control is the key part in the control of the whole autonomous soccer robot. This paper based on the idea and requirements, did further research for the autonomous soccer robot motion control system. The main research contents are as follows:(1) Motor speed control research of autonomous soccer robot.This paper generally presented the composition module of DC motor speed control part in the autonomous soccer robot motion control system. Introduced in detail the brain emotional learning control algorithm principle and the establishment process of controller. Instruction focus on the DC motor speed control system establishment process and working principle based on brain emotional learning and simulation contrast analysis based on the Matlab/Simulink.(2) Decoupling control of motion control system for autonomous soccer robot.Briefly described the necessity and feasibility of decoupling control in motion control system. Put forward a method of motion control system decoupling control for autonomous soccer robot based on reference model, established motion control system decoupling control model for autonomous soccer robot, and proofed the decoupling control principle and feasibility with mathematics method. Respectively did simulation and actual performance test in the Matlab/Simulink environment and medium group on the hardware platform, the experimental results show that this method can completely meet the requirements of the robot competition.Lastly, summarized the full article, introduced the research results, proposed for the insufficiency and the areas in need of improvement in the research.