摘要
提出了一种基于避障区域的机器人运动路径的规划方法,并通过仿真实验验证了这种方法的有效性.仿真结果表明,该方法很好地实现了机器人避障,而且与其他方法相比有如下优点:(1)通过划分避障区域,极大地减少了计算量;(2)采用解三角形的方法判断机器人是否处于避障区内,方法简单有效;(3)通过定义两个集合和在其上的两种运算来构造网格,方法简单可行.
This paper presents a method of path-planning for soccer robot based on obstacle-avoidance area. First, the meanings and characteristics of soccer robot＇s path-planning are analyzed. Secondly, a new method of designing obstacleavoidance area is presented and whether other robots are in this area is judged by solving triangle. Thirdly, the conceptions of two sets are introduced and two relative operations are defined, then a new method of mesh generation is designed according to these. The results of simulation proved that the new method presented in this paper is quite effective.
出处
《高技术通讯》
CAS
CSCD
北大核心
2005年第9期34-37,共4页
Chinese High Technology Letters
基金
国家高技术研究发展计划(863计划)
