CAJ | 학술논문

以RoboCup中型组足球机器人为研究时象，以提高机器人足球平台硬件系统性能为目标，设计了一种基于双DSP架构并结合Fuzzy-PID控制算法的足球机器人。实验结果表明，该控制系统对足球机器人的运动性能、控制精度、实时性都有了极大的改善，能满足全自主足球机器人的运动控制的要求。
이RoboCup중형조족구궤기인위연구시상，이제고궤기인족구평태경건계통성능위목표，설계료일충기우쌍DSP가구병결합Fuzzy-PID공제산법적족구궤기인。실험결과표명，해공제계통대족구궤기인적운동성능、공제정도、실시성도유료겁대적개선，능만족전자주족구궤기인적운동공제적요구。
By taking the RoboCup middle size league soccer robot as a study object,in order to improve the hardware system performance of robotic soccer board as an aim,a kind of soccer robot which was based on the 2 Digital Signal Processor (DSP)struc-ture with the Fuzzy-Proportion Integration Differential (PID)algorithm was designed. The experimental results show that this system is very good for improving the robot's active capability,control precision and real time capability,and can satisfy the requirements of the motion control of full autonomous soccer robot.