基于动态基准圆的机器人足球射门算法研究  

A shooting algorithm for soccer robot based on a dynamic referencing circle

作　　者：王月海[1] 董天祯 洪炳镕[2] 

机构地区：[1]北方工业大学信息工程学院,北京100041 [2]哈尔滨工业大学计算机科学与技术学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工业大学学报》2005年第7期953-955,共3页Journal of Harbin Institute of Technology

摘　　要：为提高足球机器人的射门成功率,在分析了几种射门算法存在不足之处的基础上,引入动态基准圆的概念,提出了一种运动轨迹采用近似阿基米德螺线的射门算法.仿真结果表明,该算法在球静态和动态两种情况下均能缩短射门机器人的运动路径,增大击球的冲量,提高射门成功率.The conception of dynamic referencing circle was introduced, and a shooting algorithm for soccer robot was proposed to improve the shoot success ratio. The motion trail of the shooting robot looks like a Archimedean axiom in the proposed algorithm. The simulation shows this algorithm shorten the distance of robot-moving, increased the impulse of bumping ball and therefore increased the shoot success ratio in the situation of station ball as well as dynamic ball.

关 键 词：机器人足球比赛 射门算法 路径规划 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]