足球机器人简介

1.2.3.2003612RoboCupFIRA,(Angle)Ka(Position)(RunArc)iGlobalVisionbasedMotionParametersAnalysisandBasicActionsImprovementforRobotSoccerSystemsAbstractWiththedevelopmentofroboticsandartificialintelligence,scientistswereoftenfacedwithissuesoncooperationandcoordinationamongdifferentrobotsinaworkspace.Thishasledtothedevelopmentsinmulti-robotcooperativesystemsMRCS.AsaresearchmodelofMRCS,soccerrobotisaninterdisciplinaryareathatinvolvestheknowledgeofrobotics,intelligencecontrol,wirelesscommunication,computerscience,sensortechnology,imageprocessing,artificialintelligence,andsoon.Ithasbecomeapublicexperimentalplatformforuniversitiesallovertheworldtocommunicatewitheachother.Thefirstchapterofthepaperintroducesrobotsoccergamesandthefoursubsystemsofsoccerrobotsystems.Inthefollowingchapter,thestrategysystemandthecontrolschemeofrobotsoccersystemisdiscussedindetail.Followingthediscussionoftheimportanceofactiondesigning,themechanismofbasicbehaviorgenerationisintroducedandthecodesofthetwooriginalbasicbehaviorfunctions,whichneedimproving,areshown.Thelastchapteristhefocusofthewholepaper.Basedonanalysisofmotionparameters,thevelocityparameterKaoftheAnglefunctionistunedthroughexperimentstogetthebestresults;ToovercomethedisadvantagesoftheformerPositionfunction,aRunArcfunctionisdeveloped,whichcancontroltherobottorunasmootharcpathtoadestination;Atlast,themethodofcontrollingtherobottoruntothetargetbydifferenttrajectoriesissuccessfullyrealized,usingthefeedbackinformationoftheglobalvisionsubsystem.KeywordsSoccerrobot,Motionanalysis,Actiondesign,Globalvisionii……......................................................................................................................................iAbstract…….................................................................................................................................ii……...................................................................................................................................iii….................................................................................................................................11.1........................................................................................................11.1.1RoboCupFIRA...................................................................................................21.1.2RoboCup.............................................................................................31.1.3FIRA(MIROSOT)...................................................................51.2............................................................................................51.2.1.....................................................................................................61.2.2.................................................................................................81.2.3.................................................................................................91.2.4...........................................................................................................101.3................................................................................................................................11...................................................................................................122.1...........................................................................122.2..........................................................................................................132.2.1...............................................................................................................132.2.2...............................................................................................................172.3..................................................................................................................182.3.1...........................................................................................................182.3.2...................................................................................................192.3.3.......................................................................................................19.......................................................................223.1AngleKa.........................................................................223.1.1(Angle)......................................................................................233.1.2Ka........................................................................243.2Position.........................................................................................283.2.1Position....................................................................................283.2.2...........................................................................................293.2.3....................................................................................................303.3..................................................................................343.3.1..............