| 一种基于预瞄控制的Robocup足球机器人带球轨迹跟踪方法 |
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| 引用本文： | 邓本再,王江银,张中景.一种基于预瞄控制的Robocup足球机器人带球轨迹跟踪方法[J].计算技术与自动化,2011,30(2):53-55. |
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| 作者姓名： | 邓本再 王江银 张中景 |
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| 作者单位： | 长沙理工大学电气与信息工程学院,湖南长沙,410114 |
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| 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。
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| 关 键 词： | 足球机器人 轨迹跟踪 鲁棒性 |
A Trajectory Tracking Method for Robocup Soccer Robot Dribbling Based on Preview Control |
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| DENG Ben-zai,WANG Jiang-yin,ZHANG Zhong-jin.A Trajectory Tracking Method for Robocup Soccer Robot Dribbling Based on Preview Control[J].Computing Technology and Automation,2011,30(2):53-55. |
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| Authors: | DENG Ben-zai WANG Jiang-yin ZHANG Zhong-jin |
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| Affiliation: | DENG Ben-zai,WANG Jiang-yin,ZHANG Zhong-jin (College of Electrical and Information Engineering,Changsha University of science and technology,Changsha 410114,China) |
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| Abstract: | 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. |
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| Keywords: | soccer robot trajectory tracking robust |
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