RoboCup3D仿真中双足机器人路径规划的最短切线路径算法  

The Shortest Tangent Path Planning for Biped Robot in RoboCup3D Simulation Environment

作　　者：倪天伟[1] 林金珠[1] NI Tian-wei LIN Jin-zhu(School of Wentian, Hehai University, Ma＇ anshan, 243031, Anhui)

机构地区：[1]河海大学文天学院,安徽马鞍山243031

出　　处：《蚌埠学院学报》2017年第3期1-3,共3页Journal of Bengbu University

基　　金：安徽省重大教学改革研究项目(2016JYXM0907);河海大学文天学院自然科学研究项目(WT15001)

摘　　要：提出了一种RoboCup3D仿真中足球机器人路径规划的最短切线路径算法,它通过计算避障所需切点位,到达切点位后迅速到达目标点,完成整个避障过程。该算法是一种几何算法,计算简单,而且容易实现,能够提高运行效率,仿真结果验证了它的有效性和实用性。The method of the shortest tangent path planning was proposed for biped robot in RoboCup3D simulation environment in the paper. It can calculate the required tangent point of obstacle avoidance, and reach the target point quickly after reaching the tangent point, to complete the whole process of obstacle a- voidance. The algorithm is a simple computational geometry algorithm, and it is easy to implement, can im- prove operating efficiency. The simulation results have demonstrated its effectiveness and practicability.

关 键 词：足球机器人 路径规划 避障 最短路径 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]