基于区域和切圆弧的足球机器人射门动作研究  

New shooting method based on zone and tangential arc for micro soccer robot

作　　者：臧军旗[1] 赵臣[1] 崔炜[1] 桂许军[1] 何利[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950-952,共3页Journal of Harbin Institute of Technology

摘　　要：在分析了众多直线和曲线射门算法的基础上,提出了一种改进的射门算法———基于切圆弧的射门轨迹和基于区域的射门目标点的算法.该算法适合机器人任何初始方向角,并实现了机器人走直线和曲线的平滑过渡,消除了机器人因旋转初始方向角而引起的振荡.Based on the deep analysis of previous shooting algorithms, an improved shooting method is proposed. The shooting track and shooting point are calculated through the shooting zone and tangential arc, respectively. The new approach is fit to any original angle of shooting robot and has a smooth transition from beeline to curve. Moreover, the oscillation of robot induced by adjusting original angle is also eliminated.

关 键 词：机器人足球 射门 参数 切圆弧 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]