中型组机器人射门策略的研究.docVIP

摘 要 本文以AS-R型移动机器人为研究控制对象，围绕RoboCup中型机器人比赛的进攻射门策略系统展开理论和实际应用研究。 论文分析了射门策略系统的组成要素：路径规划、路径跟踪、踢球器。具体到论文，首先论述了踢球器的结构构成：气缸、电磁阀、储气瓶、控制电路 ，且对其性能参数进行了详细说明，踢球器的核心部分：控制电路采用了MAX232、LM324、NE555等芯片，其控制的基本原理是直接用串口信号驱动设备，将实验效果与现有螺线管式、机械弹簧式踢球器进行效果对比，已显示出此设计的优越性；然后对机器人的运动模型的建立、运动规律进行了的论述，其中对机器人走直线、走圆弧的运动模型进行了详细的论述，为后面的机器人运动控制做好铺垫；与此同时针对RoboCup中型机器人比赛的特点，分析了阵地战和防守反击战的战术战略特点，并以此设计了符合RoboCup中型组机器人2：2赛制特点的曲直线复合射门算法，并进行了实际路线仿真试验，验证了此路线的可行性 ；最后，阐述了模糊控制算法和PID控制算法的原理，并结合本文的路径规划论述了如何用模糊-PID复合控制算法来实现对已规划好路径的跟踪，通过实验仿真验证了此算法的实用性、准确性和高效性。总之，射门路径的选择、射门路径的跟踪、射门动作的执行这三个环节环环相扣，共同构建成一个完整的射门系统。 关键词：路径规划 路径跟踪 踢球器 模糊控制 PID控制 Abstract In this thesis, the strategy of attacking and shooting of RoboCup games for AS-R autonomous wheeled mobile robot is considered in theory and application. The strategy of attacking and shooting is composed of path planting、trajectory tracking、ejection device. Specifically, it describes the structure constitute of the ejection device: solenoid valve, cylinder, gas cylinders, controlling circuit. And it elaborates on performance parameters of them. The foundation core of ejection device is control circuit which is composed of MAX232, LM324, NE555, and so on. Its control principles is that level signal drives equipment by serial port. It has shown the advantages of this design by experiment and comparison with solenoid type and mechanical spring-loaded. Then it dwells on constructing a kinematics model and kinematics characteristics, and details two kinds of kinematics model including walking in a straight line and walking in a circle, laying foundations for motion control of robot .Meanwhile, in accordance with RoboCup games’ characteristic, it also analyzes tactical decision of attacking and shooting. On that basis, it designs a multiplexed attacking path for the 2:2 games and the rationalization of the design is validated through simulation. Finally, the principles of Fuzzy control and PID control are discussed in details. And it describes how to achieve trajectory