基于Bézier曲线的机器人足球射门算法  

Robot Soccer’s shooting algorithm based on Bézier curve

作　　者：郭路生[1] 杨林权[1] 吕维先[1] 

机构地区：[1]中国地质大学信息工程学院,湖北武汉430074

出　　处：《哈尔滨工业大学学报》2005年第7期921-923,共3页Journal of Harbin Institute of Technology

基　　金：中国地质大学研究生学术创新与探索基金项目.

摘　　要：为提高机器人足球比赛中射门和传球的成功率,提出了一种基于B啨zier曲线的射门算法.首先根据机器人当前的位置和方向角以及机器人到达目标点的位置和方向角规划出一条平滑的B啨zier曲线,然后用带误差控制的PID算法进行跟踪.仿真表明,用此方法后射门的准确率及成功率得到了显著的提高.In order to make the shooting movement more accurate and fast in the match of the soccer robot, a new soccer robot’s shooting algorithm based on Bézier curve is presented. A smooth Bézier curve path is designed according to the positions and direction both at the current and aim point of the robot. Then the PID control algorithm with error control is used to trace the curve. The simulations and field match show the accuracy and success rate of shoot are improved evidently after adopting the algorithm.

关 键 词：机器人足球 射门 BÉZIER曲线 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]