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Optimal Time and Path Control for Moving to Target Point of Two Wheeled Autonomous Middle-Sized Soccer Robot

Author: WangYaGuang
Tutor: LiZuShu
School: Chongqing University
Course: Pattern Recognition and Intelligent Systems
Keywords: Soccer Robots Time optimal path Genetic Algorithms Based on the the kinesthetic intelligence Schema humanoid intelligent control
CLC: TP242
Type: Master's thesis
Year: 2009
Downloads: 83
Quote: 1
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Abstract


Autonomous Robot Soccer is a typical movement to fixed-point movement control problems, the robot how to move quickly and smoothly to the target point, the basis for other applications, directly determines the effectiveness of the strategy of the upper, motion control performance quality of the system greatly affected. Available to fixed-point motion control is mostly based on the completion of the fixed-point movement goal of qualitative analysis, in-depth study on the quantification of the sports performance without making; proposed indicators analysis and no indicators formal quantitative research; on important performance indicators are also not considered. And the existing motion simulation system can not accurately reflect the robot features to simplify the processing of complex motor and drive modules. So cause on the one hand is difficult to make a comprehensive quantitative study to fixed-point movement control effect, while the simulation results is also difficult to apply in the actual system motion control. Sports performance indicators quantitative research may be quantitative analysis of sports performance, thus comparable judge control the effect of the different controller, as the controller select basis. Accurate robot motion simulation system project team pre-built controller design, simulation results can be better used in the actual robot to the fixed-point motion control. superior fitness function. Use common ratio controller and control parameters for tuning to achieve optimal performance indicators based on the specific sport to fixed-point movement control. The results show that the genetic algorithm to the effectiveness of the optimal design of sports performance, quantitative study of control performance indicators have obvious physical significance. ② In order to design a controller optimized for two robot control the complexity of the object, using the robot humanoid body kinesthetic intelligence schema-based control theory to fixed-point motion control research, perception of the schema introduced the motion control level has The \Design the humanoid intelligent controller based on kinesthetic intelligence schemata. ③ same humanoid intelligent controller tuning optimal control parameters based on the time path indicators, and performance indicators the same optimal P controller comparative experiments. Chongqing University RoboCup soccer robot fully autonomous medium two actual platform, robot motion system based simulation modeling project team early. The experimental results show that the quantitative study compared more optimized humanoid intelligent controller.

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