足球机器人的数学模型及最优控制方法

The mathematical model of soccer robot and optimal control

仿真机器人足球比赛为研究人工智能理论提供了良好的实验平台,并且吸引了很多人参加该比赛;基于FIRASi muroSot 5vs5仿真平台,对轮式机器人的平动与转动分别进行了分析,用机理法建立了离散状态空间模型并辨识出其中的参数;基于建立的离散数学模型,用庞特里亚金(Pontryagin)的极小值原理推导出了Bang-Bang控制规律,并加以修正,形成了拟Bang-Bang控制,对机器人运动进行时间最优控制,该控制规律在平台中取得了非常好的测试结果.

Robot soccer provides a good platform for the research of Artificial Intelligence,and it attracts many people to take part in the game.Based on the platform of FIRA SimuroSot 5vs5,we analyse the translational motion and the rotational motion of wheeled mobile robot separately,and build the discrete state space mode and identify the parameters in model.According to Pontryagin's Minimum Principle and based on the discrete mathematical model,we derive the Bang-bang feedback control law.We correct the law and form the near Bang-bang control law,and adopt the law in the movement of robot.The control law obtains a good result in the platform.