机器人直赛道赛跑方案和走直线控制策略的设计与实现

Design and Realization of Scheme of Straight Match Track of Robot Races and Control Strategy of the Straight Line Motion

提出了用能力风暴机器人进行直赛道赛跑的一种方案。设计了直赛道竞赛台,确定了比赛规则。为了机器人具有快速性和走直线的能力,专门讨论了两轮分别驱动式机器人如何实现走直线的问题。分析和使用了已有走直线控制策略后提出了新的控制策略,所设计控制策略已通过试验验证,验证结果表明新策略比旧策略优越。

A scheme for the straight match track races with Ability-Storm Robot is presented in this paper. The straight contest platform of match track is designed, and the race rules and regulations are confirmed. To have the rapidness and the ability of running straight line, the robot with two wheels driven by two motors respectively is especially researched. A new control strategy is proposed after analyzing the existing control strategies, which has already been verified through the test. The result indicates that the new strategy is more superior to the old one.