【作者】 李克东；

【导师】 刘国栋；

【作者基本信息】 江南大学 ， 控制理论与控制工程， 2008， 硕士

【摘要】 足球机器人涉及计算机、人工智能、机器视觉、信号处理、无线通讯、机器人学等多个学科,是人工智能与机器人领域的研究热点,是一个极富挑战性的高科技项目。目前,研制足球机器人主要有两方面困难,一方面是感知与控制,另一方面是决策、规划和推理。本文以RoboCup小型组足球机器人为研究对象,针对机器人控制系统设计及路径规划进行了深入的研究,本论文的研究工作主要包括以下几个方面:首先,介绍RoboCup小型组足球机器比赛的系统组成,以及广泛使用的全方位移动机器人的系统结构。在世界坐标系和机器人坐标系下,推导出全方位移动机器人的运动学方程、动力学方程,找到机器人控制量与状态量之间的关系,从而得到机器人的系统方程,并且代入实际机器人的具体参数,通过MATLAB仿真验证模型的有效性。其次,重点研究了RoboCup小型组足球机器人控制系统,通过参阅众多小型组足球机器人的设计文献,结合当前小型组足球机器人的发展趋势,选择DSP TMS320F2812作为主控制器,以它为核心设计出足球机器人驱动板和主控板。在驱动板上完成了机器人的运动、击球、带球等电路设计,在控制板上完成了外围接口、通讯等电路设计工作,并完成了各部分的程序设计及性能测试。最后,对足球机器人的路径规划进行了研究,并以RoboCup小型组足球机器人比赛为模型,用栅格法进行环境建模,并结合蚁群算法进行路径搜索,在较短的时间内找到一条无碰撞的最优路径,实验仿真表明:采用栅格法建模,结合蚁群算法进行路径搜索的新方法可以使足球机器人快速到达目标。更多还原

【Abstract】 Soccer robot refers to computer,artificial intelligent,machine vision,signal processing, wireless communication,robotics and many other subjects etc.It is not only a research hotspot in the field of artificial intelligent and robot,but also a very challenging high-tech project.At present,two aspects of difficulties emerge from the developing soccer robot: one is in the research of sensor and control,and the other one exists in decision-making,planning and inference.This paper chooses RoboCup small-size soccer robot as the object of the study and conducts an in-depth study on the design of the robot control system and path planning.Study work of this paper includes the following parts:At first,the paper introduces the system components of the RoboCup small-size robot competition and system structure of the omni-directional mobile robot which has been widely used in robot soccer competition recently,then deduces the kinematics function and dynamic function of the robot in the world coordinate system and the robot coordinate system,find relations between the robot control quantity and the condition quantity,correspondingly proposes the system function of the robot.Furthermore,the effectiveness of the model using detailed parameter of real robot can be testified by MATLAB simulationThen the paper puts an emphases on the study of the control system of RoboCup small-size robot soccer game.By referring to the papers on the design of the small size soccer robot and analyzing the developing trend,DSP TMS320F2812 was chosen as main controller and used as the core in the drive board and the main-control board of the robot which was designed.The electrical circuit design of the robot motion,kick and dribble was located in drive-board.And the design of the peripheral interface and the communication interface was located in main-control board.And what’s more,the programming design and the performance test of every part was accomplished.At last,the paper conducts an in-depth research on the path planning of soccer robot.Taking the venue of RoboCup small-size league competition as model,environment modeling was carried with the Grid Model,and combined with the Ant Colony Algorithm to carry on the path search,as a result,a non-collision optimized path can be found within shorter time.It is demonstrated by research simulation that the new method which builds an environment model with Grid Model and carries out the path search with Ant Colony Algorithm can make the soccer robot get to the target faster.更多还原