足球机器人定点行走模型的研究

Research on Fixed-point Moving Model of Soccer Robot

针对线性比例反馈控制的双轮车型足球机器人,引入模型系数的概念,建立其定点行走的运动学模型,并推导出此类型的机器人在稳定、准确行走的要求下,反馈系数应满足的方程,从理论上来解决反馈控制系数取值的未知性、盲目性问题.同时以此模型为基础,采用程序仿真的方式,分析了机器人在速度限制、角度调整方式等方面存在的隐患,提出了应对措施,较好地解决了机器人偏转不足、不够迅速等问题.最后,通过分析机器人行走的一个隐蔽的收敛性问题,给出了反馈控制系数的完整约束条件.

This paper is to examine a two-wheel mobile soccer robot with linear scaling feedback control incorporating the idea of model coefficient to construct a kinematics model of soccer robots fixed-point moving. Furthermore, an equation is formulated which should fulfil the control feedback coefficient conditioned by the stable and accurate robot walking. Theoretically this equation needs to solve the unpredictability and aimlessness in figuring out the feedback coefficient. Based on this model assessed by the simulation-oriented equation, a potential problem in terms of speed limiting and angle adjusting is pinpointed out and a solution is proposed for improving the lack of robot＇s deflexion. At last, a rounded restrictive term of feedback coefficient is presented via analyzing a convert astringency problem.