摘要
规划出一条理想的路径并为机器人确定一个合理的速度值是微型足球机器人策略算法研究中的两个关键问题.文中应用向量场法对无碰路径规划及速度优化问题进行了分析.建立了轮式足球机器人小车的运动学模型,并深入研究了小车的运动性能问题.根据所得运动学迭代方程及向量场的特点,提出了一种速度优化设定方法.此方法采用低速控制方式,可大大降低小车的能耗,并使小车更易控制.仿真计算与实验结果表明此方法简单、有效,实时性很强.
To plan a perfect path and to determine a reasonable velocity are two key problems in the research on the strategy system of micro soccer robot. Path planning and velocity optimization in the vector field are studied in this paper and satisfying results are obtained. Firstly the kinematics equation of wheeled mobile is proposed and then its motion capability is deeply analyzed. Based on the robot′s kinematics iterative equation and the characteristics of the vector field, robot′s optimum velocity is given. With low velocity control, the energy consumption and difficulties in robot control are reduced dramatically. The computer simulation and the experiment show that the method is simple and feasible and has better real time as well.
出处
《天津大学学报（自然科学与工程技术版）》
EI
CAS
CSCD
北大核心
2004年第1期65-68,共4页
Journal of Tianjin University：Science and Technology
基金
国家863高科技研究发展计划基金资助项目(2001AA422270).
