| 双足足球机器人实时避障导航系统研究 |
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| 引用本文： | 杨晶东,黄庆成,洪炳镕.双足足球机器人实时避障导航系统研究[J].机器人,2005,27(6):530-534. |
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| 作者姓名： | 杨晶东 黄庆成 洪炳镕 |
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| 作者单位： | 哈尔滨工业大学计算机科学与技术学院,黑龙江,哈尔滨,150001 |
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| 基金项目： | 黑龙江省博士后科研启动金资助项目（LHK-04079）. |
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| 摘 要： | 介绍了避障控制系统的体系结构和基本步态算法．其次，介绍了路径规划策略，包括避障开始时的全局导航策略和穿越障碍物时的局域导航策略．分析了红外传感器测距实验数据及局域导航实验结果，验证了红外线传感器精确度和导航策略能够满足比赛要求．
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| 关 键 词： | 红外线传感器 双足足球机器人 路径规划 |
| 文章编号： | 1002-0446（2005）06-0530-05 |
| 收稿时间： | 2005-03-15 |
| 修稿时间： | 2005-03-15 |
Research on Real-time Obstacle Avoidance Navigation System of Biped Soccer Robot |
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| YANG Jing-dong,HUANG Qing-cheng,HONG Bing-rong.Research on Real-time Obstacle Avoidance Navigation System of Biped Soccer Robot[J].Robot,2005,27(6):530-534. |
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| Authors: | YANG Jing-dong HUANG Qing-cheng HONG Bing-rong |
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| Affiliation: | School of Computer Science and Technology, Harbin Institute of Technology, Harbin 150001, China |
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| Abstract: | First, the control system architecture of obstacle avoidance and the basic walking gait algorithms are presented. Then, the path planning strategies are put forward, consisting of the global navigation strategy, which is applied in the beginning of obstacle avoidance, and local navigation s.trategy which is used while crossing among obstacles. Finally, through analyzing the experimental data, such as infrared sensor range finding as well as local navigation, it is concluded that the strategies are able to satisfy the rules of the FIBA game. |
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| Keywords: | infrared sensor biped soccer robot path planning |
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