基于比例导引的足球机器人截球算法研究  

Study of intercept action algorithm based on proportional navigation in robot soccer

作　　者：蒲勇[1] 周兴社[1] 王宇英[1] 

机构地区：[1]西北工业大学计算机学院

出　　处：《计算机应用》2008年第1期125-126,130,共3页journal of Computer Applications

摘　　要：常用的足球机器人截球运动控制算法较少,通过类比机器人截球运动与导弹或鱼雷追踪目标的相似性,引入军事目标追踪导引算法中常用的比例导引算法,并给出了导引算法模型及其在足球机器人系统中的应用实现。仿真结果表明该算法效果明显,行之有效,并能够根据不同的应用要求灵活的调整导引系数,取得比较理想的截球控制效果。The process of missile or torpedo navigation to pursue a target is similar to the process of soccer robot intercepting a ball. By introducing the common used proportional navigation algorithm and its moving model, we can get a firenew control method of soccer robot. The simulation experiment proves that this algorithm has good effect on intercepting, and if we can choose appropriate navigation control modulus according to different application requirements, the effect of intercept action would be satisfying.

关 键 词：机器人足球 比例导引 截球 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] TP242.6[自动化与计算机技术—控制科学与工程]