双圆弧优化算法的足球机器人路径规划  

Soccer Robot Path Planning Based on Modified Bi-Arc Algorithm

作　　者：柳在鑫[1] 王进戈[1] 朱维兵[1] 王强[1] 

机构地区：[1]西华大学机器人研究所,四川成都610039

出　　处：《华侨大学学报（自然科学版）》2008年第2期190-193,共4页Journal of Huaqiao University(Natural Science)

基　　金：四川省应用基础研究项目(0322129);四川省重点学科研究项目(SZD425231)

摘　　要：根据双圆弧数据逼近方法,提出一种足球机器人路径规划算法,弥补机器人小车到达定点常用Turn-Run-Turn方法及模糊控制(PID)方法存在的不足.利用由分段圆弧曲线连接而成的双圆弧,具有满足任意端点及其斜率特性要求的特性,解决机器人小车到达目标点位置和姿态的运动过程中遇到障碍物及保持最佳姿态的路径规划问题.最后,利用复合形法,求解障碍物约束条件下的非完整移动机器人路径规划问题,并进行运动路径寻优.结果表明,该方法简单有效,对机器人初始条件不加限制,计算量非常小.A new path planning method based on bi-arc algorithm for soccer robots is presented to overcome the disadvantages of turn-run-run and PID algorithm. Bi-arc connected by several segments of arcs is used to deal with the pathplanning problem of collision avoidance of mobile robots at the initial and terminal posture and of how to hold the optimal posture. Moreover, the complex method is used to solve the path-planning problem for nonholonomic mobile robots under the condition of obstacle avoidance, and the motion path is optimized. The result shows that the complex method is simple, effective and with a little computation, and also has no limits on the initial conditions of soccer robots.

关 键 词：足球机器人 路径规划 双圆弧 Turn—Run—Turn算法 模糊控制 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置] TP301.6[自动化与计算机技术—控制科学与工程]