Research On Construction And Path Planning Of Intelligent Small Soccer Robot

Path planning is the key problem that all mobile robots have to solve,including solving the problem of how to reach the destination,how to detect collision and avoid collision.RoboCup is the Robot World Cup soccer championship.The project requires high real-time performance,is the ideal platform for the research on the real-time path planning.This paper focuses on the construction of intelligent soccer robot and path planning algorithm.First of all,the overall design of the robot soccer.Including the overall structure of the arrangement;chassis,walking,ball control,ball and other mechanical parts of the design;visual system,wireless reception,launch systems,decision-making systems and other control parts design;vehicle design and so on.Secondly,the robot system is constructed and analyzed.By means of the mechanical part,the motion control part,the communication module part carries on the construction and the entire vehicle assembly,establishes the movement model of the robot,and analyses the control of the movement posture in the movement.Finally,the path planning algorithm for the robot system is studied.Including target bias RRT algorithm;connection type RRT algorithm;double tree RRT algorithm and variable probability RRT algorithm proposed in this paper,and the path planning for the experimental comparative analysis.The experimental results show that the proposed variable probability RRT algorithm is feasible for the path planning of the robot.The algorithm can reasonably plan an effective path in diferent obstacles,and the search efficiency and planning path are better than other algorithms.