基于足球机器人截球动作的提前角导引算法研究

提出了实现足球机器人快速截住小球技术动作的一种新算法。首先给出了足球机器人的运动模型,然后介绍了提前角导引算法的基本思想,进而给出了截球动作的具体实现和在实时系统中应用的改进算法。该算法根据足球机器人的运动模型,以导引函数为目标函数计算出机器人下一时刻的最佳位置点,从而实现拦截动作。仿真实验结果表明该算法具有良好的拦截效果,MiroSot11vs11比赛的实践亦证明该算法是行之有效的。

Study of Lead Angle Guidance Method Based on Football Robot Intercept Action

The new algorithm of realization of football robot intercept technical action was provided. First, the football robot kinematics model was given; and then the basic thought of lead angle guidance method was introduced and intercept action's realization and improved algorithm, which is applied in real-time system were proposed. Based on the football robot kinematics model, the algorithm decided robot's best position next time with guidance function as objective function, and then realizedthe intercept action. The simulation experiment proves that this algorithm has a good effect on intercepting and the algorithm is also proved effective by the practice of MiroSot 11vs11 match.