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| 基于动态椭圆曲线的足球机器人射门路径规划算法 | |
| 引用本文： | 宋大雷,孟宪强,宋朝晖,申文卿.基于动态椭圆曲线的足球机器人射门路径规划算法[J].计算机应用,2009,29(6):1544-1546. |
| 作者姓名： | 宋大雷 孟宪强 宋朝晖 申文卿 |
| 作者单位： | 1. 中国海洋大学,工程学院,山东,青岛,266100 2. 黑龙江电力职工大学,计算机网络中心,哈尔滨,150030 3. 中国石油山东销售分公司,山东,青岛,266071 |
| 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。 |
| 关 键 词： | 足球机器人 射门 路径规划 椭圆曲线 soccer robot shooting path planning elliptic curve |
| 收稿时间： | 2008-12-11 |
| 修稿时间： | 2009-02-25 |
Shooting path planning for soccer robot based on dynamic ellipse curve |
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| SONG Da-lei,MENG Xian-qiang,SONG Zhao-hui,SHEN Wen-qing.Shooting path planning for soccer robot based on dynamic ellipse curve[J].journal of Computer Applications,2009,29(6):1544-1546. | |
| Authors: | SONG Da-lei MENG Xian-qiang SONG Zhao-hui SHEN Wen-qing |
| Affiliation: | 1.College of Engineering;Ocean University of China;Qingdao Shandong 266100;China;2.Computer Network Center;Heilongjiang Electric Staff University;Harbin Heilongjiang 150030;3.Shandong Sales Branch;China National Petroleum Corporation;Qingdao Shandong 266071;China |
| Abstract: | 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. |
| Keywords: | soccer robot shooting path planning ellipse curve |
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