Research on motion control algorithm for mirosot soccer robot

摘要

Based on nonholonomic restriction condition, the kinematics model of wheeled soccer robot is derived. Based on dynamic restriction condition, the dynamic model of wheeled soccer robot is derived with considering the dynamic of driving electric motor. Analysis shows that the line acceleration and angle acceleration of soccer robot are related to current line velocity, angel velocity, given line velocity and given angel velocity, etc. A new motion control algorithm - proportion differential coefficient and second step differential coefficient (PDD <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> ) is put forward with considering the second step differential coefficient of distance error and angle error. The simulation experiments of motion control are done with proportion method, PD method and PDD <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> method. The experiments show that PDD <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> algorithm enables the soccer robot to move to a moving target point rapidly, accurately and steadily.