摘要
通过深入分析足球机器人带球状态下的运动特点,结合智能预瞄控制方法建立带球状态下的非线性数学运动模型。分别对机器人的线速度和旋转速度使用专家PID控制,实现在带球情况下不丢球的机器人轨迹跟踪。仿真和试验证明该方法具有良好的快速性和鲁棒性。
By in-depth analysis the movement characteristics of the soccer robot dribbling, with intelligent preview control created a nonlinear mathematical motion model in dribbling state. For robot＇s forward speed and self-rotation speed to use expert PID control, realized soccer robot＇s trajectory tracking. Simulation and experiments results indicate that this way is fast and robust.
出处
《计算技术与自动化》
2011年第2期53-55,共3页
Computing Technology and Automation
