Motion Control and Path Planning and Tracking Algorithm of Football Robot

Abstract

In robotic football, the effectiveness of robot actions and behaviors is completely based on accurate prediction and effective planning of future walking paths and correct adjustment of the posture of the robot when it collides with the football. The purpose of path planning is mainly to plan a collision-free path that meets an evaluation index on a competition-filled field. As the basis for the realization of the basic action of a soccer robot, its pros and cons will directly affect the real-time and accuracy of the action. Therefore, every soccer robot researcher has made it a research focus. This paper mainly studies the motion control and path planning tracking algorithms of soccer robots. In the simulation experiment of this paper, at the end of the interpolation, each joint of the soccer robot has a sudden change in speed from 0.1 rad / s to 0.5 rad / s. Comparing the two speed planning interpolation methods, the speed of the forward segmented speed planning interpolation is more stable. Compared with the trapezoidal speed planning, the speeds jitter of each joint when the robot stops is reduced by more than 90%. This paper proposes the theory of computational verbs combined with the area search method to solve the problem of real-time image information acquisition of small football robotic systems, template matching and similarity solution for robot identification, and decomposing the computational verbs into action words and column verbs to reduce the system's calculation load. It improves the accuracy and stability of image information and lays a foundation for path planning and other research.