Artificial intelligence control algorithm for steering motion of wheeled soccer robot

Issue title: Information Sciences and Data Transmission of Data

Guest editors: Juan Luis García Guirao

Article type: Research Article

Authors: Lin, Jing^*;

Affiliations: Department of Physical Education Institute, Gannan Normal University, Ganzhou, China

Correspondence: [*] Corresponding author. Jing Lin, Department of Physical Education Institute, Gannan Normal University, 341000, Ganzhou, China. E-mail: linjing0921@126.com.

Abstract: In order to improve the function of driving of wheeled soccer robot and solve the time delay of the pivot steering motion of traditional robot, an artificial intelligent control algorithm for steering motion of wheeled soccer robot was proposed. Combined with the calculation of double eccentric steering motion control, the driving characteristic of wheeled soccer robot steering eccentric mass block was analyzed. Then, D’Alembert’s principle was used to analyze the stress of robot and design the kinematics model of spherical shell steering of spherical mobile robot. Moreover, the stick-slip principle was used to control the steering of wheeled soccer robot. Thus, the steering motion control of robot was achieved. Experiment results prove that the steering speed of wheeled soccer robot is 30% higher than that of traditional robot, which effectively solves the problem about the time delay of traditional robot steering motion.

Keywords: Wheeled soccer robot, steering motion, D’Alembert’s principle, double eccentric mass

DOI: 10.3233/JIFS-179860

Journal: Journal of Intelligent & Fuzzy Systems, vol. 38, no. 6, pp. 7915-7923, 2020