基于位置控制的足球机器人控制方法

Control Mode Of Robot Soccer Based On Position Control

为了改进机器人足球比赛中各机器人执行动作的准确性与可靠性,针对目前FIRA足球机器人在驱动方式上的不足,提出了基于位置控制的机器人控制模式,可以避免比赛中由于机器人速度上的不规则变化引起的对象丢失,及对硬件要求较高带来的副作用等问题.经仿真和比赛检验了该方法的有效性.

To improve the veracity and reliability of soccer robots＇ action in game, a control mode based on position control was proposed in this paper aiming at the deficiency in drive motion in FIRA soccer robots. This mode can resolve the problems of object losing because of speed＇s change, and avoid side-effects by reason of excessive standard of hardware. The validity of the mode was tested by simulation and robot soccer matches.