基于改进HSIC控制器的全向足球机器人运动研究  

Motion Research of Omnidirectional Soccer Robot with an Improved HSIC Controller

作　　者：盖晓华[1] 宋苏罗[2] 刘叔军[1] 

机构地区：[1]南阳理工学院电子与电气工程系,河南南阳473004 [2]南阳理工学院应用数学系,河南南阳473004

出　　处：《郑州大学学报（理学版）》2009年第3期59-63,84,共6页Journal of Zhengzhou University:Natural Science Edition

基　　金：河南省自然科学基金资助项目,编号2006520036

摘　　要：RoboCup比赛对足球机器人实时、准确、稳定等性能要求较高,而全向机器人由于自身特性导致在比赛中高速运动时难以实时、准确地跟踪路径规划程序生成的轨迹.针对这一情况,采用改进仿人智能控制(HSIC)算法对机器人的运动进行控制,较好地解决了这一问题.仿真实验结果表明,与常规PID控制相比,该算法能使全向机器人克服振动等扰动影响,准确高效地实现机器人的运动控制.RoboCup middle-size robot must be controlled real-time,accurately and steadily. So an improved HSIC controller is put forward to do the motion control for the robot. It is well solved that the robot can't veraciously track the trajectory in time in the high-speed competition because of its intrinsic characteristics. Simulation results show that compared with conventional PID,this controller can overcome the influence of the vibrational effect,and it is more efficient and veracious.

关 键 词：全向足球机器人 运动控制 改进HSIC控制 抗干扰 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]