中型组机器人射门策略的研究

I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IIAbstractInthisthesis,thestrategyofattackingandshootingofRoboCupgamesforAS-Rautonomouswheeledmobilerobotisconsideredintheoryandapplication.Thestrategyofattackingandshootingiscomposedofpathplanting、trajectorytracking、ejectiondevice.Specifically,itdescribesthestructureconstituteoftheejectiondevice:solenoidvalve,cylinder,gascylinders,controllingcircuit.Anditelaboratesonperformanceparametersofthem.ThefoundationcoreofejectiondeviceiscontrolcircuitwhichiscomposedofMAX232,LM324,NE555,andsoon.Itscontrolprinciplesisthatlevelsignaldrivesequipmentbyserialport.Ithasshowntheadvantagesofthisdesignbyexperimentandcomparisonwithsolenoidtypeandmechanicalspring-loaded.Thenitdwellsonconstructingakinematicsmodelandkinematicscharacteristics,anddetailstwokindsofkinematicsmodelincludingwalkinginastraightlineandwalkinginacircle,layingfoundationsformotioncontrolofrobot.Meanwhile,inaccordancewithRoboCupgames’characteristic,italsoanalyzestacticaldecisionofattackingandshooting.Onthatbasis,itdesignsamultiplexedattackingpathforthe2:2gamesandtherationalizationofthedesignisvalidatedthroughsimulation.Finally,theprinciplesofFuzzycontrolandPIDcontrolarediscussedindetails.AnditdescribeshowtoachievetrajectorytrackingtothepathplannedabovebythemultiplexedFuzzy-PIDcontrol.Thepracticability,accuracy,highefficiencyoftheproposedmethodisvalidatedthroughsimulation.Inshort,pathplanting,trajectorytracking,ejectiondevicearethreeinseparablelinks.Theyconstructacompleteshootingsystemtogether.KeyWords:pathplanting；trajectorytracking；ejectiondevice；Fuzzycontrol；PIDcontrolIII目录第一章绪论.............................................................-1-1.1引言.............................................................-1-1.2机器人足球的发展历程及意义.......................................-1-1.2.1机器人足球的起源及发展.....................................-1-1.2.2我国机器人足球的发展.......................................-2-1.2.3课题研究的目的和意义.......................................-3-1.3RoboCup中型组机器人系统介绍.....................................-4-1.3.1驱动控制子系统.............................................-4-1.3.2视觉子系统.................................................-4-1.3.3决策子系统.................................................-5-1.3.4通信子系统.................................................-5-1.3.5踢球机构...................................................-5-1.4RoboCup中型足机器人射门策略系统的研究现状.......................-6-1.5论文的研究内容及章节内容安排.....................................-8-1.5.1论文研究的内容.............................................-8-1.5.2章节安排...................................................-8-1.6小结.............................................................-8-第二章踢球器的研究和设计..............................................-9-2.1持球机构.........................................................-9-2.2踢球机构的动作的流程.............................................-9-2.3射门机构的设计及其原理..........................................-10-2.4踢球器的设计....................................................-11-2.4.1气缸......................................................-11-2.4.2电磁阀....................................................-12-2.4.3储气瓶....................................................-13-2.4.4踢球器的控制电路..........................................-13-2.4.5实验分析..................................................-15-2.5小结............................................................-16-第三章射门动作的研究和设计............................................-17-3.1中型组机器人的运动学规律及运动学分析............................-17-3.1.1机器人的定位..............................................-17-IV3.1.2机器人运动模型............................................-18-3.1.3直线运动..................................................-19-3.1.4圆弧运动..................................................-20-3.2射门区域的分析..................................................-22-3.2.1阵地战式的进攻方式........................................-22-3.2.2防守反击式进攻............................................-23-3.3复合曲线射门动作................................................-24-3.4实验结果分析....................................................-26-3.5小结............................................................-26-第四章模糊-PID复合轨迹跟踪控制算法....................................-27-4.1轨迹跟踪的研究现况..............................................-27-4.1.1非线性状态反馈控制方法....................................-27-4.1.2滑模控制方法..............................................-27-4.1.3后退控制方法..............................................-27-4.1.4计算力矩方法..............................................-27-4.1.5自适应控制方法.................