Robocup Small Size Robot Motion Control

Fn the last decade, the robots playing soccer game has become a high-tech rivalry competition in the world. It is a interdisciplinary field where people from different backgrounds, such as micro-mechanism, robotic, multi-sensors fusion, communication, image processing, electromechanization, computer technology, countermeasure and decision-making, intelligent control and artificial life, etc., are working together for its development. It's an ideal testing platform for the research of multi-agent systems and distributed artificial intelligence theory.This thesis presents the work on the design of motion control algorithms for the RoboCup's small-league soccer robots, including differential drive mobile robots and omni-directional mobile robots with three wheels. The thesis, firstly, analyzes the motion of single wheel and makes a generalization on wheeled mobile robots, and builds the kinematic and dynamic models of differential drive robots and omni-directional robots, which can be used to analyze their motional characteristics. And through comparing the hierarchical control based on kinematic model and the control based on dynamic model, the paper decides to use the first one to achieve motion control of soccer robots. Secondly, some control algorithms for differential drive robots are discussed, including a posture stabilization control algorithm based on polar coordinates and the linear and nonlinear trajectory control algorithms. Thirdly, according to the special requirements of RoboCup competition, this paper designed an algorithm to control robots moving in circle and two trajectory control algorithm of off-center reference points. Finally, the thesis puts forward the algorithms for the control of omni-directional mobile robots. In addition, the dynamic model of DC motors on robots is identified from experiment data, and a digital incremental PID speed control algorithm for DC motors has been designed. Simulation experiments validate the stabilities of all control algorithms, and the robustness and practicability of all algorithms are also verified.