基于几何学的路径规划方法  

A new path-planning method based on geometry

作　　者：何利[1] 赵臣[1] 臧军旗[1] 桂许军[1] 崔炜[1] 

机构地区：[1]天津大学机器人与汽车技术研究所,天津300072

出　　处：《哈尔滨工业大学学报》2005年第7期947-949,共3页Journal of Harbin Institute of Technology

摘　　要：提出的路径规划方法通过几何法寻找机器人与目标点之间的优化点,连接这些点生成机器人到达目标点的一条无碰撞优化路径.该方法计算量小,适合于静态和动态避障.基于这种方法,还提出了一种新的射门动作.A new method to plan the optimal path is presented. The optimal points between the robot and the target position are determined by geometry calculation.With these optimal points a collision-free path can be easily generated. The new path-planning algorithm is simple to calculate and easy to implement. Experiments show that the method has better real time and collision avoiding result. Based on this method, a novel shooting action is also designed in this paper.

关 键 词：机器人足球 路径规划 几何法 优化点 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]