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Research on Control Algorithm of Three-wheel Omni-directional Soccer Robot

Author: WangGuoWei
Tutor: LiYiHua
School: Changsha University of Science and Technology
Course: Control Theory and Control Engineering
Keywords: Three omnidirectional robot System Modeling Motion Control Trajectory Tracking Walk straight
CLC: TP242.6
Type: Master's thesis
Year: 2011
Downloads: 48
Quote: 0
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Abstract


Robot soccer relates to digital image processing , pattern recognition , robot control , artificial intelligence, multi-agent collaboration , and many other areas , both of these areas of research focus at the same time is difficult . Middle size robot soccer competition (Middle Size League) as an important part of the Robot Soccer World Cup (RoboCup) provides a standard test platform for the study of the theory and technology of motion control systems . In this paper, the RoboCup medium-sized group of three omnidirectional drive robot soccer control algorithm . First, three multiple omnidirectional soccer robot nonlinear system model , and analyzes the basic motion characteristics . Secondly, on the basis of analysis of the control task , select the control scheme based on the hierarchical control of the kinematic model as the robot system . \Again , in order to verify the feasibility of the underlying motion control system , based on proof system can completely control the state , is designed based on the theory of error accumulation factor domain self-tuning fuzzy control algorithm , the simulation and experimental results show that the control algorithm is reasonable and feasible , effective. Finally, in accordance with the requirements of the control tasks , design a trajectory tracking control algorithm based on dynamic feedback linearization . Simulation results show that the algorithm enables the robot to quickly and accurately track the desired trajectory to meet the requirements of RoboCup medium-sized group of robots in the game when the trajectory tracking control . In addition, according to the actual requirements of the robot soccer competition , a walk the straight line method based on the theory of pure rolling , allows the robots to achieve complex movements , has a practical significance .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Intelligent robots
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