Title :
Research on motion control algorithm for mirosot soccer robot
Author :
Weibing, Zhu ; Longjun, Wu ; Zaixin, Liu ; Xinqiao, Deng
Author_Institution :
Sch. of Mech. Eng. & Autom., Xihua Univ., Chengdu, China
Abstract :
Based on nonholonomic restriction condition, the kinematics model of wheeled soccer robot is derived. Based on dynamic restriction condition, the dynamic model of wheeled soccer robot is derived with considering the dynamic of driving electric motor. Analysis shows that the line acceleration and angle acceleration of soccer robot are related to current line velocity, angel velocity, given line velocity and given angel velocity, etc. A new motion control algorithm - proportion differential coefficient and second step differential coefficient (PDD2) is put forward with considering the second step differential coefficient of distance error and angle error. The simulation experiments of motion control are done with proportion method, PD method and PDD2 method. The experiments show that PDD2 algorithm enables the soccer robot to move to a moving target point rapidly, accurately and steadily.
Keywords :
acceleration control; differential equations; mobile robots; motion control; proportional control; robot kinematics; PD method; PDD2 method; angle acceleration; angle error; distance error; driving electric motor; dynamic restriction condition; line acceleration; mirosot soccer robot; motion control; nonholonomic restriction condition; proportion differential coefficient; proportion method; robot kinematics; second step differential coefficient; wheeled soccer robot; Acceleration; Control systems; DC motors; Error correction; Mobile robots; Motion control; Robot kinematics; Robotics and automation; Virtual colonoscopy; Wheels; Algorithm; Motion control; Soccer robot;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-4774-9
Electronic_ISBN :
978-1-4244-4775-6
DOI :
10.1109/ROBIO.2009.5420686
