基于全局视觉的足球机器人实时避障策略设计  

Design of a real-time obstacle avoidance strategy based on overall vision in robot soccer

作　　者：周军[1] 王廷旗[1] 张涛[1] 王国安[1] 

机构地区：[1]河海大学机电工程学院,江苏常州213022

出　　处：《哈尔滨工业大学学报》2005年第7期924-926,共3页Journal of Harbin Institute of Technology

基　　金：河海大学常州校区创新科技基金资助项目.

摘　　要：通过对对方机器人信息的处理,提出一种将位置信息转化为速度信息的实时避障策略.在检测到给定点与目标点之间有障碍物时,根据障碍物的位置给机器人一个新的目标点,使机器人能够绕过障碍物到达目标点,从而达到避开障碍物的目的.给出了算法的设计与实现并进行了仿真,仿真结果证明了该算法的可行性与有效性.Through the process of the opponent robots' information, a real-time obstacle avoidance strategy of transforming the position information into speed information is designed. When barrier is detected between the starting point and target point, a new target point is calculated for the robot according to the position of the barrier, so as to enable the robot avoid the barrier and reach the target point, thus achieve the goal of avoiding the barrier. The realizing algorithm is designed and the simulation is carried out. The result proves the feasibility and efficiency of the algorithm.

关 键 词：足球机器人 全局视觉 动态环境 避障 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]