摘要
研究了一种基于仿真比赛平台的足球机器人避障方法,机器人通过一段弧线智能地躲开前方的障碍物.通过改变左右轮速实现旋转,机器人在追球的过程中,要预测小球的位置,然后以最快的速度追球;机器人在避障过程中,寻找障碍物附近一点,当机器人到达这一点的过程中,保证无碰撞运动,然后再向目标点运动.整个运动过程中,机器人会走一条最佳弧线,保证运动的时间最短.仿真结果验证了该避障方法的正确性.
Studied a method of obstacle avoidance of the soccer robot based on simulation platform. The robot avoids the obstacle ahead through a section of arcs intelligently. Rotation course can be realized by changing the velocity of left wheel and right wheel. During the process of chasing ball, robot predicts the position of the ball, then chases the ball at the fastest speed. Secondly, the process of obstacle avoidance has been studied. The robot looks for a point near the obstacle. During the process of the robot's getting to this point, the collision-free movement should be guaranteed first before the robot move to the object point. In the whole movement course, the robot will walk on an optimum arc, and guarantee the time of movements is the shortest. Finally, the simulation result of robots' movement course is given which verified the method of avoiding obstacle.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2005年第7期902-904,917,965,共5页
Journal of Harbin Institute of Technology
基金
华北电力大学博士学位教师科研基金资助项目.
关键词
机器人足球
避障
目标点
无碰撞运动
Collision avoidance
Computer simulation
Motion planning
Velocity control
