Shooting Algorithm of Soccer Robot Based on Bi-Arc

柳在鑫; 王进戈; 朱维兵

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Shooting Algorithm of Soccer Robot Based on Bi-Arc

更新时间：2025-12-08

- Shooting Algorithm of Soccer Robot Based on Bi-Arc
- Vol. 41, Issue 11, Pages: 1326-1329(2007)
- 作者机构：
  
  西华大学机器人研究所,成都,610039
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP24
- Online First：10 November 2007，
  
  Published：2007
- 稿件说明：
移动端阅览
柳在鑫, 王进戈, 朱维兵. Shooting Algorithm of Soccer Robot Based on Bi-Arc[J]. 2007, 41(11): 1326-1329.
DOI：

柳在鑫, 王进戈, 朱维兵. Shooting Algorithm of Soccer Robot Based on Bi-Arc[J]. 2007, 41(11): 1326-1329. DOI：

摘要

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.

Abstract

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.

关键词

Keywords

references

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Meek D S, Walton D J. Approximation of discrete data by G'arc splines[J]. Computer-Aided Design, 1992,24(6): 301-306.

韩学东,洪炳镕,孟伟.机器人足球射门算法研究[J].哈尔滨工业大学学报,2003, 35(9):1064-1065.

Han Xuedong,Hong Bingrong,Meng Wei. Shooting algorithm in robot soccer[J]. Journal of Harbin Institute of Technology,2003,35(9):1064-1066.

郝宗波,洪炳镕.仿真机器人足球射门动作研究[J].哈尔滨工业大学学报,2003, 35(9): 1102-1103.

Hao Zongbo,Hong Bingrong.Shooting action of simulation robot soccer[J]. Journal of Harbin Institute of Technology,2003,35(9):1102-1104.

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Min Huaqing,Bi Sheng,Chen Yapeng.Motion planning of robot collision avoidance based on multi-objective genetic algorithm[J].Journal of Harbin Institute of Technology,2005, 37(7):914-916.

周井泉,张顺颐.最短路径的独立变量神经网络算法[J].计算机工程与应用,2004, 40(30):29-31.

Zhou Jingquan,Zhang Shunyi.Approach to the shortest path solution with independent variable neural network[J]. Computer Engineering and Applications,2004, 40(30):29-31.

田东平,迟洪钦.混合遗传算法与模拟退火法[J]. 计算机工程与应用,2006, 42(22):63-65.

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丁晓庆.工科数学分析[M].北京:科学出版社,2002: 120-230.

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