足球机器人的设计与全向移动平台的控制
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摘要
本文以RoboCup中型组机器人足球赛为应用背景,在NuBot第三代中型组足球机器人的技术基础之上,根据机器人足球赛对机器人系统提出的更高要求,重新设计了新一代的足球机器人,并在机器人足球比赛的背景下研究了全向移动平台的运动控制问题。
在足球机器人设计方面,本文做了如下工作：一,设计了一种新的全向轮,其运动平稳性和摩擦力特性优于现有全向轮；二,设计了一种新的轴系结构,能有效减少轮系空程；三,以新全向轮为基础搭建了新的全向移动平台；四,分析并设计了有效的主动控球系统。包括对控球机构的原理分析,指出使主动控球机构有效工作的关键是同时控制主动轮的转速和转矩；五,对主动控球机构提出了一种有效的开环控制方法。
在全向移动平台运动控制方面,本文推导了全向移动平台的模型,包括运动学模型,动力学模型,及基于动力学模型的控制模型。根据实际需要对控制模型进行输入域解耦和通道解耦,将模型进行合理简化。本文还归纳了基于足球机器人比赛背景的几种典型的全向移动平台控制问题,然后将这几种控制问题归纳为输入约束下的时间最优控制问题。由于具有输入约束的时间最优控制难以求出解析解,本问中将问题进行转化,提出了一种可等效求解输入约束下时间最优控制问题的数值算法。
实验结果表明,本文设计的新一代中型组足球机器人各方面性能均满足比赛要求,提出的控制问题符合实际,采用的控制方法有效。
In the thesis, a new soccer robot was designed. The robot was based on the works of the 3rd edition of NuBot soccer robot, and was designed for the application in the middle-size league of RoboCup. The thesis also studies the motion control problem of the omni-directional transfer platform.
On the design of robot, the main works of the thesis were as follows:first, a new style of omni-directional wheel was designed. Compared with the other omni-directional wheels, the new wheel is much smoother and has bigger friction dur-ing the movement of the platform. Second, a new structure for connecting the motor axis and wheels was designed, which was able to reduce the space between the wheel and the motor. Third, a new omni-directional transfer platform with the new omni-directional wheel was build. Forth, a valid active ball handing mechanism was designed, the analyze of the principle of the mechanism was also given. It identify that the key point to make the mechanism work is controlling the speed and the torque of the active wheels at a same time. Fifth, an open-loop control method for the active ball handing mechanism was developed.
On the control of omni-directional transfer platform, the thesis give the model of the omni-directional transfer platform, including the model of kinematics and dynamics and the control model which was based on the model of dynamics.
The input of the model was simplified. And the thesis also concluded several typi-cal motion control situation of the omni-directional transfer platform, and was turned to be the time option control problem with input restriction. Because the time option con-trol problem with input restriction could hardly find the algebraic solution, the problem was switch to another form, and could be solved equivalently with another method to find the arithmetical solution of the answer.
It was proved by the experiment that the newly build soccer robot satisfy the need of the competition, and the problem was concluded correctly according to the fact. And the control method was proved works very well.
在足球机器人设计方面,本文做了如下工作：一,设计了一种新的全向轮,其运动平稳性和摩擦力特性优于现有全向轮；二,设计了一种新的轴系结构,能有效减少轮系空程；三,以新全向轮为基础搭建了新的全向移动平台；四,分析并设计了有效的主动控球系统。包括对控球机构的原理分析,指出使主动控球机构有效工作的关键是同时控制主动轮的转速和转矩；五,对主动控球机构提出了一种有效的开环控制方法。
在全向移动平台运动控制方面,本文推导了全向移动平台的模型,包括运动学模型,动力学模型,及基于动力学模型的控制模型。根据实际需要对控制模型进行输入域解耦和通道解耦,将模型进行合理简化。本文还归纳了基于足球机器人比赛背景的几种典型的全向移动平台控制问题,然后将这几种控制问题归纳为输入约束下的时间最优控制问题。由于具有输入约束的时间最优控制难以求出解析解,本问中将问题进行转化,提出了一种可等效求解输入约束下时间最优控制问题的数值算法。
实验结果表明,本文设计的新一代中型组足球机器人各方面性能均满足比赛要求,提出的控制问题符合实际,采用的控制方法有效。
In the thesis, a new soccer robot was designed. The robot was based on the works of the 3rd edition of NuBot soccer robot, and was designed for the application in the middle-size league of RoboCup. The thesis also studies the motion control problem of the omni-directional transfer platform.
On the design of robot, the main works of the thesis were as follows:first, a new style of omni-directional wheel was designed. Compared with the other omni-directional wheels, the new wheel is much smoother and has bigger friction dur-ing the movement of the platform. Second, a new structure for connecting the motor axis and wheels was designed, which was able to reduce the space between the wheel and the motor. Third, a new omni-directional transfer platform with the new omni-directional wheel was build. Forth, a valid active ball handing mechanism was designed, the analyze of the principle of the mechanism was also given. It identify that the key point to make the mechanism work is controlling the speed and the torque of the active wheels at a same time. Fifth, an open-loop control method for the active ball handing mechanism was developed.
On the control of omni-directional transfer platform, the thesis give the model of the omni-directional transfer platform, including the model of kinematics and dynamics and the control model which was based on the model of dynamics.
The input of the model was simplified. And the thesis also concluded several typi-cal motion control situation of the omni-directional transfer platform, and was turned to be the time option control problem with input restriction. Because the time option con-trol problem with input restriction could hardly find the algebraic solution, the problem was switch to another form, and could be solved equivalently with another method to find the arithmetical solution of the answer.
It was proved by the experiment that the newly build soccer robot satisfy the need of the competition, and the problem was concluded correctly according to the fact. And the control method was proved works very well.
引文
[1]Hikari Fujii, Yusuke Ohde, Masayuki Kato, Fumitaka Otsuka, Naoko Sema, ei-gen team description. Technical Report B-10-03, Eigen-Berlin. June 2003.
[2]Raul Rojas:Omni-directional Control, FreieUniversityBerlin, Technical Report B-10-03, FU-Berlin, June 2003.
[3]K Watanabe, Y Shiraishi, S G Tzafestas, J Tang, and T Fukuda:Feedback Con-trol of an Omni-directional Autonomous Platform for Mobile Service Robots. Journ. Intelligent and Robotic Systems,22 (1998) 314-33
[4]F G Pin and S M Killough:A New Family of Omni-directional and Holonomic Wheeled Platforms for Mobile Robots, IEEE Transactions on Robotics and Automation 10(4), Aug (1994) 480-489
[5]Ashmore M and Barnes N:Omni-drive robot motion on curved paths:The fastest path between two points is not a straight-line. In Proc Australian Joint Confer-ence on Artificial Intelligence, Dec.2002,225-236.
[6]Jae-Bok Song, Kyung-Seok Byun, Design and Control of a Four-Wheeled Omni-directional Mobile Robot with Steerable Omni-directional Wheels, Journal of Robotic Systems, Wiley Periodicals, Vol.21, No.4, pp.193-208,2004.04
[7]Tamas Kalmar-Nagy, Raffaello D'Andrea, Pritam Ganguly Near-Optimal Dy-namic Trajectory Generation and Control of an Omni-directional Vehicle. [C] //Proceedings of the American Control Conference. Alaska, USA:IEEE2002, 1:285-291.
[8]Roland Hafner, Sascha Lange, Martin Lauer, and Martin Riedmiller Brain-stormers Tribots Team Description.RoboCup 2008 SuZhou, CD-ROM, SuZhou, China, July,2008.
[9]Yusuke Sato,Shuji Yamaguchi, et.al.Hibikino-Musashi. Team Description Paper. RoboCup 2008 SuZhou, CD-ROM, SuZhou, China, July,2008.
[10]J.L.Azevedo,N.Lau, G. Corrente et.al. CAMBADA'2008:Team Description. PaperRoboCup 2008 SuZhou, CD-ROM, SuZhou, China, July,2008.
[11]J.J.M. Lunenburg and G. v.d. Ven (Eds.) Tech-United Team Description. Ro-boCup 2008 SuZhou, CD-ROM, SuZhou, China, July,2008.
[12]Hui Zhang, Huimin Lu, Xiucai Ji, et.al. NuBot Team Description Paper 2008. RoboCup 2008 SuZhou, CD-ROM, SuZhou, China, July,2008.
[13]RoboCup, Middle size robot league rules and regulations for 2008 (2008).URL http://www. RoboCup2008/RoboCup-mid/index.html
[14]Yoshihiko Nakamura, Tatsuro Endo:An Omni-directional Vehicle on a Basket-ball.
[15]李金锷.大学物理[M].2版.北京：科学出版社,2000.
[16]丛爽,李泽湘.实用运动控制技术[M].北京：电子工业出版社,2006.
[17]谷东兵,胡豁生.移动机器人的运动预测控制[J].仪器仪表学报.2000,21(2)：155-158.
[18]郭旭,熊蓉,胡协和.全方位移动机器人的运动预测控制[J].电机与控制学报.Vol.11 No.1 Jan.2007
[19]许巍丽,孙茂相.全方位移动机器人鲁棒控制[J].沈阳工业大学学报.Vol.29No.3 Jun.2007
[20]张翮.全方位移动机器人的运动建模与控制.学位论文.浙江：浙江大学.20050201
[21]徐勇明.四轮足球机器人的研制与控制方法研究.学位论文.安徽：中国科学技术大学.20050401
[22]周科.RoboCup小型组(F-180)足球机器人的运动控制和路径规划.学位论文.浙江：浙江大学.20040402
[23]皮骄阳.足球机器人运动控制算法研究及控制系统设计.学位论文.合肥：中国科学技术大学.20060501
[24]季秀才.RoboCup小型组机器人运动控制研究.学位论文.湖南：国防科学技术大学.20031101
[25]聂晓璐,全方位小型组足球机器人运动性能研究.学位论文.天津：天津大学.20060201
[26]海丹.全向移动平台的设计与控制,学位论文.湖南：国防科学技术大学.20051101
[27]高卓艳.时间最优控制的Mayer逼近算法.学位论文.广西：贵州大学.20070501
[28]程丽丽,武玉强.有限时间收敛控制与时间最优控制性能指标指标分析[J].曲阜师范大学学报.Vol.33 No.3 July 2007.
[29]刑及祥,张春蕊,徐洪泽.最优控制应用基础[M].北京：科学出版社,2003.172-178
[30]胡寿松.自动控制原理[M].第四版.北京：科学出版社,2001.516-537
[31]程国采.航天飞行器最优控制理论与方法[M].北京：国防工业出版社,1999.1-129
[32]李人厚译.自主移动机器人导论[M].西安：西安交通大学出版社,2006.33-35
[2]Raul Rojas:Omni-directional Control, FreieUniversityBerlin, Technical Report B-10-03, FU-Berlin, June 2003.
[3]K Watanabe, Y Shiraishi, S G Tzafestas, J Tang, and T Fukuda:Feedback Con-trol of an Omni-directional Autonomous Platform for Mobile Service Robots. Journ. Intelligent and Robotic Systems,22 (1998) 314-33
[4]F G Pin and S M Killough:A New Family of Omni-directional and Holonomic Wheeled Platforms for Mobile Robots, IEEE Transactions on Robotics and Automation 10(4), Aug (1994) 480-489
[5]Ashmore M and Barnes N:Omni-drive robot motion on curved paths:The fastest path between two points is not a straight-line. In Proc Australian Joint Confer-ence on Artificial Intelligence, Dec.2002,225-236.
[6]Jae-Bok Song, Kyung-Seok Byun, Design and Control of a Four-Wheeled Omni-directional Mobile Robot with Steerable Omni-directional Wheels, Journal of Robotic Systems, Wiley Periodicals, Vol.21, No.4, pp.193-208,2004.04
[7]Tamas Kalmar-Nagy, Raffaello D'Andrea, Pritam Ganguly Near-Optimal Dy-namic Trajectory Generation and Control of an Omni-directional Vehicle. [C] //Proceedings of the American Control Conference. Alaska, USA:IEEE2002, 1:285-291.
[8]Roland Hafner, Sascha Lange, Martin Lauer, and Martin Riedmiller Brain-stormers Tribots Team Description.RoboCup 2008 SuZhou, CD-ROM, SuZhou, China, July,2008.
[9]Yusuke Sato,Shuji Yamaguchi, et.al.Hibikino-Musashi. Team Description Paper. RoboCup 2008 SuZhou, CD-ROM, SuZhou, China, July,2008.
[10]J.L.Azevedo,N.Lau, G. Corrente et.al. CAMBADA'2008:Team Description. PaperRoboCup 2008 SuZhou, CD-ROM, SuZhou, China, July,2008.
[11]J.J.M. Lunenburg and G. v.d. Ven (Eds.) Tech-United Team Description. Ro-boCup 2008 SuZhou, CD-ROM, SuZhou, China, July,2008.
[12]Hui Zhang, Huimin Lu, Xiucai Ji, et.al. NuBot Team Description Paper 2008. RoboCup 2008 SuZhou, CD-ROM, SuZhou, China, July,2008.
[13]RoboCup, Middle size robot league rules and regulations for 2008 (2008).URL http://www. RoboCup2008/RoboCup-mid/index.html
[14]Yoshihiko Nakamura, Tatsuro Endo:An Omni-directional Vehicle on a Basket-ball.
[15]李金锷.大学物理[M].2版.北京：科学出版社,2000.
[16]丛爽,李泽湘.实用运动控制技术[M].北京：电子工业出版社,2006.
[17]谷东兵,胡豁生.移动机器人的运动预测控制[J].仪器仪表学报.2000,21(2)：155-158.
[18]郭旭,熊蓉,胡协和.全方位移动机器人的运动预测控制[J].电机与控制学报.Vol.11 No.1 Jan.2007
[19]许巍丽,孙茂相.全方位移动机器人鲁棒控制[J].沈阳工业大学学报.Vol.29No.3 Jun.2007
[20]张翮.全方位移动机器人的运动建模与控制.学位论文.浙江：浙江大学.20050201
[21]徐勇明.四轮足球机器人的研制与控制方法研究.学位论文.安徽：中国科学技术大学.20050401
[22]周科.RoboCup小型组(F-180)足球机器人的运动控制和路径规划.学位论文.浙江：浙江大学.20040402
[23]皮骄阳.足球机器人运动控制算法研究及控制系统设计.学位论文.合肥：中国科学技术大学.20060501
[24]季秀才.RoboCup小型组机器人运动控制研究.学位论文.湖南：国防科学技术大学.20031101
[25]聂晓璐,全方位小型组足球机器人运动性能研究.学位论文.天津：天津大学.20060201
[26]海丹.全向移动平台的设计与控制,学位论文.湖南：国防科学技术大学.20051101
[27]高卓艳.时间最优控制的Mayer逼近算法.学位论文.广西：贵州大学.20070501
[28]程丽丽,武玉强.有限时间收敛控制与时间最优控制性能指标指标分析[J].曲阜师范大学学报.Vol.33 No.3 July 2007.
[29]刑及祥,张春蕊,徐洪泽.最优控制应用基础[M].北京：科学出版社,2003.172-178
[30]胡寿松.自动控制原理[M].第四版.北京：科学出版社,2001.516-537
[31]程国采.航天飞行器最优控制理论与方法[M].北京：国防工业出版社,1999.1-129
[32]李人厚译.自主移动机器人导论[M].西安：西安交通大学出版社,2006.33-35