足球机器人协调控制的研究

由于足球机器人在比赛过程中一直处于高速运动状态，所以对机器人运动的协调性和响应的快速性要求比较高。为此，分析了足球机器人的运动特性和机器人在运动过程中协调性差的原因，提出了速度协调控制算法和运动控制算法，并利用Lyapunov定理验证了运动控制算法在不同运动区域的收敛性。结果表明，本算法具有较好的协调性和快速性，能满足足球机器人比赛的要求。

Study of coordinate control for soccer robot

For the high speeding movement in robot soccer, we have to meet the requirement of athletic coordinateness and of rapid response. The athletic characters and the causes that lead to the less coordinateness in moving procedure are analyzed, the arithmetic of velocity coordinateness and of movement controlling is proposed, and the convergence in different fields for the arithmetic by the aid of Lyapunov theorem is checked. The practice shows that the arithmetic is well coordinate, fast and capable of meeting the requirement of competition in robot soccer.