摘要
为提高机器人足球比赛中射门成功率,提出了一种基于动态椭圆曲线的射门路径规划算法。通过计算足球机器人当前位姿及期望射门角度,控制机器人按照椭圆曲线路径运动至射门目标点,实现快速有效击球射门。仿真实验及实物机器人实验验证了算法的有效性,动态椭圆曲线射门规划算法运动路径短,且能够以合理射门角度完成射门。
To improve the shooting precision of soccer robot, a shooting path planning algorithm based on dynamic ellipse curve was proposed. By calculating the robot＇s position, pose and desired shoot angle dynamically, the soccer robot was controlled to move to target at ellipse curve and shoot quickly. The results of simulation and experiment demonstrate the validity of the algorithm. The path is short and shooting is finished at a proper angle.
出处
《计算机应用》
CSCD
北大核心
2009年第6期1544-1546,共3页
journal of Computer Applications
