| 基于几何学的路径规划方法 |
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| 引用本文： | 何利,赵臣,臧军旗,桂许军,崔炜.基于几何学的路径规划方法[J].哈尔滨工业大学学报,2005,37(7):947-949. |
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| 作者姓名： | 何利 赵臣 臧军旗 桂许军 崔炜 |
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| 作者单位： | 天津大学,机器人与汽车技术研究所,天津,300072 |
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| 摘 要： | 提出的路径规划方法通过几何法寻找机器人与目标点之间的优化点,连接这些点生成机器人到达目标点的一条无碰撞优化路径.该方法计算量小,适合于静态和动态避障.基于这种方法,还提出了一种新的射门动作.
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| 关 键 词： | 机器人足球 路径规划 几何法 优化点 |
| 文章编号： | 0367-6234(2005)07-0947-03 |
| 修稿时间： | 2005年5月16日 |
A new path-planning method based on geometry |
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| HE Li,ZHAO Chen,ZANG Jun-qi,GUI Xu-jun,CUI Wei.A new path-planning method based on geometry[J].Journal of Harbin Institute of Technology,2005,37(7):947-949. |
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| Authors: | HE Li ZHAO Chen ZANG Jun-qi GUI Xu-jun CUI Wei |
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| Abstract: | A new method to plan the optimal path is presented. The optimal points between the robot and the target position are determined by geometry calculation.With these optimal points a collision-free path can be easily generated. The new path-planning algorithm is simple to calculate and easy to implement. Experiments show that the method has better real time and collision avoiding result. Based on this method, a novel shooting action is also designed in this paper. |
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| Keywords: | robot soccer path-planning geometry optimal points |
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