Action design and implementation based on Micro Soccer Robot

摘要

Micro Soccer Robot is a two-wheeled robot, and it has been the focus in the field of robotics research for its structural and action characteristic. This paper describes motion control system of soccer robot, proposes a kinematics model and sets the model according to moving environment of soccer robot. In decision-making system, action design tends to calculate speeds of robot's left and right wheels when it runs. And motion controller executes motion commands to fulfil its role-playing. The paper presents several algorithms for controlling soccer robot to reach a target location with the shortest trajectory and optimizes its control parameters to further improve action precision and accuracy of soccer robot. Simulation and analysis are conducted to insure shorter moving trajectory, stability and better performance of soccer robot. The result shows that the proposed control algorithm is applicable for MiroSot competition system.