Research On Dynamic Performance &Kicker Of Robocup F-180 Soccer Robot

Robotic Soccer is an international research domain that encourages research in the fields of robotics and artificial intelligence, with a particular focus on developing cooperation between autonomous agents in dynamic multi-agent environments. On the other hand, it is also a new type of high-intelligence and entertainment item with its grand challenge and adversum. Playing an important role in robotic soccer, soccer robot (executor) makes its design a great challenging and necessity task. Beginning with introduction to Multi-Agent system (MAS), deep and wide analysis of configuration, characteristics, classification, and development of RoboCup F-180 robotic soccer system is presented. Based on mobile mechanism analysis of wheeled mobile robot, mechatronic design of soccer robot in RoboCup F-180 is attained including concept modal of RoboCup F-180 robot and an ingenious kicker world design. Some very useful results on the mechatronic design of two-wheeled soccer robot and dynamic constrains are gained from dynamic analysis,which is fundaments of high level soccer robot . Under considerations of dynamic constrains, a near-optimal dynamic trajectory generation and control yet with high computation efficiency of two-wheel type soccer robot based on Bang-Bang principal is achieved. Conclusions and perspectives are developed. In a word, as the necessity fundaments of strategy and control subsystem, issues on mechatronic concept model and an ingenious kicker world design of RoboCup F-180 vehicle subsystem, dynamic constrains, dynamic trajectory generation and control under dynamic constraints of two-wheeled soccer robot are focused on in this paper.