基于动态碰撞时间预测的机器人区域射门算法  

Robot's Area Shooting Algorithm Based on Dynamic Collision Time Prediction

作　　者：张秋实[1] 张天航[1] 张雨泽[1] 吴阳[1] 黄冰冰[1] 

机构地区：[1]东北电力大学信息工程学院,吉林吉林132012

出　　处：《东北电力大学学报》2012年第4期18-21,共4页Journal of Northeast Electric Power University

摘　　要：为提高机器人足球比赛中射门成功率,提出一种基于动态碰撞时间预测的区域射门算法。该算法根据实时预测的射门机器人与球发生碰撞的时间计算、调整机器人左右轮速,实现了机器人走曲线和走直线的平滑过渡。实验仿真结果表明,该方法在快速动态环境下的射门成功率明显提高。In order to improve the the shoot success ratio of soccer robot, a new soccer robot＇ s area shooting algorithm based on dynamic collision time prediction is presented. Wheels velocity were calculated and adjusted according to the collision time prediction between robot and ball per cycle. The shooting robot was controlled to move to target and shoot quickly. The simulation results show this algorithm has a smooth transition from beeline to curve, and the success ratio of shoot in the fast dynamic envinoment is improved evidently.

关 键 词：机器人足球 射门 碰撞时间预测 二次射门 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]