摘要
针对Roboocup小型组足球机器人运动控制要求实时、准确、稳定等特点,采用了基于时间最优的bang-bang控制算法来进行机器人的运动控制,解决了机器人在高速的比赛中因为其自身的特性而不能实时、准确的跟踪路径规划程序生成的轨迹这一问题。仿真实验的结果和在实际足球机器人平台上的应用表明,该算法能准确有效的实现机器人的运动控制。
The motion control of the small-size robocup must be real-time, veracious and steady, aiming at these properties, bang-bang control algorithm based on time optimal was adopted in this paper to do the motion control of the robot. It was solved that the robot can＇t veraciously track the trajectory in time in the high-speed competition because of its intrinsic characteristics.Simulation result and application of this algorithm in the reality robot platform suggested this algorithm was efficient and veracious.
出处
《机械设计与制造》
北大核心
2007年第12期146-148,共3页
Machinery Design & Manufacture
