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一种基于预瞄控制的Robocup足球机器人带球轨迹跟踪方法.docx

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一种基于预瞄控制的Robocup足球机器人带球轨迹跟踪方法 Abstract Inthispaper,weproposeatrajectorytrackingmethodforRobocupsoccerrobotsbasedonpreviewcontrol.Themethodutilizesamodelpredictivecontroller(MPC)topredictthefuturemotionoftherobotandgeneratecontrolinputsforit.TheproposedmethodistestedonarealRobocupsoccerrobotandcomparedwithatraditionalPIDcontroller.Theresultsshowthattheproposedmethodachievesbettertrajectorytrackingperformance. Introduction Robocupsoccerisaninternationalresearchinitiativeaimedatpromotingresearchinthefieldofroboticsandartificialintelligence.Theinitiativeorganizesasoccercompetitioninwhichautonomousrobotscompeteagainsteachother.Therobotsareequippedwithsensorsandactuatorsthatallowthemtointeractwiththeenvironmentandperformcomplextaskssuchasdribbling,passing,andshooting. OneofthekeychallengesinRobocupsocceristheabilityoftherobotstomaintaincontroloftheballwhilemovingathighspeedsinadynamicenvironment.Thisrequiresaneffectivecontrolstrategythatcanregulatethemotionoftherobotandensureaccuratetrajectorytracking. Inthispaper,weproposeatrajectorytrackingmethodforRobocupsoccerrobotsbasedonpreviewcontrol.Theproposedmethodutilizesamodelpredictivecontroller(MPC)topredictthefuturemotionoftherobotandgeneratecontrolinputsforit.ThemethodistestedonarealRobocupsoccerrobotandcomparedwithatraditionalPIDcontroller. PreviewControl Previewcontrolisacontrolstrategythatutilizesamodelofthesystembeingcontrolledtopredictitsfuturebehaviorandgeneratecontrolinputsthatoptimizeagivenperformancecriterion.Themethodisparticularlysuitedforsystemsthatexhibitsignificanttimedelaysorhavecomplexdynamicbehavior. InthecontextofRobocupsoccer,previewcontrolcanbeusedtopredictthefuturetrajectoryoftherobotandgeneratecontrolinputsthatensureaccuratetrajectorytracking.Themethodinvolvesthreemainsteps:stateprediction,optimalcontrol,andfeedbackcorrection. StatePrediction Thefirststepintheproposedmethodistopredictthefuturestateoftherobotbasedonitscurrentstateandthecontrolinputsthatwillbeappliedoveragivenpredictionhorizon.Thisisach