足球机器人的双圆弧射门算法研究

为了提高机器人足球比赛中的成功率,在分析了基本算法不足的基础上,利用能够满足任意端点及其斜率要求的双圆弧曲线来解决机器人小车到达目标点的位置,以及姿态运动过程中遇到障碍物能够保持最佳姿态的射门问题,并利用优化设计中的复合形法进行了运动路径寻优.仿真结果表明,利用双圆弧曲线可保证足球机器人有效地避开障碍物到达目标位姿,且可保证规划路径上的每一点均能满足非完整约束条件,有效地为足球机器人规划出避碰最优路径.优化后的方法简单有效,可对机器人的初始条件不加限制,计算量非常小,因此有较高的实用价值.

Shooting Algorithm of Soccer Robot Based on Bi-Arc

To improve the rate of soccer robot shooting goal,bi-arcs are used to solve the shooting problem with collision avoidance and appropriate position holding.And the moving path variables are optimized with the complex algorithm.The simulated results demonstrate that the bi-arcs ensure the soccer robot to realize the effective obstacle avoidance to reach the target,and satisfy the nonholonomic constraint conditions at any points on the planning path to project the optimal path effectively for the obstacle avoidance with a relatively slight computing task and without initial condition requirement.