摘要
基于FIRA机器人足球比赛11vs11仿真平台,通过建立数学模型分析了Position函数的工作原理,并对此函数进行改进以适应比赛中具体环境.从三个方面进行了改进:实现区域内避障,探测障碍物并根据具体情况避开障碍到达目标点;分析采用不同函数时机器人的运动轨迹,根据具体情况采用相应的轨迹避障或直接到达目标点;按照指定轨迹运动,完成动作规划,实现路径跟踪.仿真平台的实验证明,Position函数三个方面改进都能达到要求,能适应比赛中的设定情况.
By setting up mathematical model, the principles of Position function are analyzed and improved on three aspects to adapt to different situations in match. First, the obstacle-avoiding within sub-fields has been put into reality by probing and avoiding obstacles according to different situations. Second, the routes of different functions by which robots can get to object point have been analyzed. At last, the action planning and route tracking has been realized by making robots move according to appointed tracks. The improved position function can meet basic requirements and has good adaptation to different situations in match.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2005年第7期899-901,共3页
Journal of Harbin Institute of Technology
基金
华北电力大学博士学位教师科研基金资助项目.
关键词
机器人足球
位置驱动
避障
路径实现
Collision avoidance
Mathematical models
Motion planning
Position control
