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.
YangA., YangX. and LiuW., et al., Research on 3d positioning of handheld terminal based on particle swarm optimization, Journal of Internet Technology20(2) (2019), 563–572.
2.
MiC., ShenY. and MiW.J., et al., Ship identification algorithm based on 3d point cloud for automated ship loaders, Journal of Coastal Research (2015), 28–34.
3.
WangD.J., WuL. and ZhengS.J., et al., Kinematics modeling and simulation of a six wheeled mobile robot, Chinese High Technology Letters27(2) (2017), 184–192.
4.
RenF.X., WangJ.H., LiZ.Y. and ZhuJ., Research on target location control of channel tracking for unmanned surface craft, Computer Simulation34(10) (2017), 314–319.
5.
TaoG.H. and FangL.J., Gravity balance and steering and obstacle crossing of three arm inspection robots, China Mechanical Engineering27(9) (2016), 1150–1157.
6.
ZhangH., DingS.Y. and ChenL., Exploring motion control of four-wheeled skid-steer mobile robot based on double inertial measurement unit system, Mechanical Science and Technology for Aerospace Engineering36(11) (2017), 1759–1763.
7.
YangJ.J., LinR. and WangZ.H., et al., Research and design of motion control system of wheeled mobile robot, Modern Electronics Technique39(2) (2016), 22–27.
8.
XuK., ZhengY. and DingX.L., Structure design and motion mode analysis of a six wheel-legged robot, Journal of Beijing University of Aeronautics and Astronautics42(1) (2016), 59–71.
9.
DongL. and MaJ.M., Control system and structure for hexapod robot with circular arc legs, Mechanical & Electrical Engineering Magazine33(7) (2016), 883–887.
10.
WangL. and ZhangZ., Research and design of steering control for four wheel driving mobile robots, Control Engineering of China24(11) (2017), 2387–2393.
11.
ShuaiL.G., SuH.Z. and ZhengL.Y., et al., Steering movement of caterpillar track of a track-wheel mobile robot, Journal of Harbin Engineering University38(10) (2017), 1630–1634.
12.
CaiL.H., FangH.F. and GaoJ.K., et al., Moving mechanism design of mine-used detection robot and its gait analysis, Industry and Mine Automation43(6) (2017), 47–51.
13.
ZhouL.Y., ZhangH. and XieS., Kinematic analysis of wheeled robot’s 90 degree polygonal fillet weld tracking motion, Transactions of the China Welding Institution38(10) (2017), 33–38.
14.
TaoM.L. and SuiC.P., et al., Design and optimization of steering mechanism for a small car-like mobile robot, Machinery Design & Manufacture (11) (2017), 105–108.
15.
LiT., MaS.G. and LiB., et al., Design and motion mechanism of a screw drive in-pipe robot with adaptability to in-pipe environment, Journal of Mechanical Engineering52(9) (2016), 9–17.
16.
CaiW.G., LiJ. and HuP., et al., Study on simulating control of underwater robot movement, Mechanical Engineering & Automation (3) (2017), 33–35.
17.
WangW.J., YangG.L. and ZhangC., et al., Design and realization of powered caster wheel for omnidirectional mobile robot, Journal of Engineering Design23(6) (2016), 633–638.
18.
LiuX., WangG.Q. and GuiJ.Q., et al., A new type of serpentine bionic wheel-leg pipeline inspection robot, Construction Machinery (7) (2017), 80–84.
19.
LiangX.G., ZhaoC. and ZhangJ.J., et al., Analysing steering performance of tracked nuclear robot based on skid condition, Mechanical Science and Technology for Aerospace Engineering36(9) (2017), 1313–1319.
20.
FengY., ZhangX.X. and HuangQ., et al., Path planning of end-of-row turning for robot vehicle based on laser radar, Transducer and Microsystem Technologies36(2) (2017), 28–31.
21.
YangY., ZhongM. and YaoH., et al., Internet of things for smart ports: technologies and challenges, Ieee Instrumentation & Measurement Magazine21(1) (2018), 34–43.
22.
DingY.C., ZanP. and ZhouY.W., et al., Design and experiment of motion controller for information collection platform in field with Beidou positioning, Transactions of the Chinese Society of Agricultural Engineering33(12) (2017), 178–185.
23.
WuZ.G. and LuF., Design of walking system control algorithm for electric wheeled omnidirectional mobile robot, Manufacturing Automation38(10) (2016), 88–91.
24.
YuZ.P., ZhangR.Y. and XiongL., et al., Dynamic control for unmanned skid-steering vehicle with conditional integartors, Journal of Mechanical Engineering53(14) (2017), 29–38.
