[1]柳在鑫,王进戈,朱维兵,等.双圆弧优化算法的足球机器人路径规划[J].华侨大学学报(自然科学版),2008,29(2):190-193.[doi:10.11830/ISSN.1000-5013.2008.02.0190]
　LIU Zai-xin,WANG Jin-ge,ZHU Wei-bing,et al.Soccer Robot Path Planning Based on Modified Bi-Arc Algorithm[J].Journal of Huaqiao University(Natural Science),2008,29(2):190-193.[doi:10.11830/ISSN.1000-5013.2008.02.0190]
点击复制

双圆弧优化算法的足球机器人路径规划()
分享到：

《华侨大学学报（自然科学版）》[ISSN:1000-5013/CN:35-1079/N]

卷:
第29卷
期数:
2008年第2期
页码:
190-193
栏目:
出版日期:
2008-04-20

文章信息/Info

Title:
Soccer Robot Path Planning Based on Modified Bi-Arc Algorithm
文章编号:
1000-5013(2008)02-0190-04
作者:
柳在鑫; 王进戈; 朱维兵; 王强
西华大学机器人研究所; 西华大学机器人研究所 四川成都610039; 四川成都610039
Author(s):
LIU Zai-xin;  WANG Jin-ge;  ZHU Wei-bing;  WANG Qiang
Research Institute for Robot, Xihua University, Chengdu 610039, China
关键词:
足球机器人;  路径规划;  双圆弧;  Turn-Run-Turn算法;  模糊控制
Keywords:
soccer robot;  path planning;  bi-arc;  turn-run-turn algorithm;  fuzzy control
分类号:
TP242
DOI:
10.11830/ISSN.1000-5013.2008.02.0190
文献标志码:
A
摘要:
根据双圆弧数据逼近方法,提出一种足球机器人路径规划算法,弥补机器人小车到达定点常用Turn-Run-Turn方法及模糊控制(PID)方法存在的不足.利用由分段圆弧曲线连接而成的双圆弧,具有满足任意端点及其斜率特性要求的特性,解决机器人小车到达目标点位置和姿态的运动过程中遇到障碍物及保持最佳姿态的路径规划问题.最后,利用复合形法,求解障碍物约束条件下的非完整移动机器人路径规划问题,并进行运动路径寻优.结果表明,该方法简单有效,对机器人初始条件不加限制,计算量非常小.
Abstract:
A new path planning method based on bi-arc algorithm for soccer robots is presented to overcome the disadvantages of turn-run-run and PID algorithm.Bi-arc connected by several segments of arcs is used to deal with the path-planning problem of collision avoidance of mobile robots at the initial and terminal posture and of how to hold the optimal posture.Moreover,the complex method is used to solve the path-planning problem for nonholonomic mobile robots under the condition of obstacle avoidance,and the motion path is optimized.The result shows that the complex method is simple,effective and with a little computation,and also has no limits on the initial conditions of soccer robots.

参考文献/References:

[1] 韩学东, 洪炳镕, 孟伟. 机器人足球射门算法研究 [J]. 哈尔滨工业大学学报, 2003(9):1064-1065.doi:10.3321/j.issn:0367-6234.2003.09.012.
[2] 马辰威, 刘巍, 张承. 基于遗传算法的足球机器人控制参数优化 [J]. 哈尔滨工业大学学报, 2004(7):921-922.doi:10.3321/j.issn:0367-6234.2004.07.024.
[3] MORETON D N, PARKINSON D B. The application of bi-arc technique in CNC mathining [J]. Computer-Aided Engineering Design Journal, 1991.54-60.
[4] MEEK D S, WALTON D J. Approximation of discrete data by G’arc splines [J]. Computer-Aided Design, 1992(6):301-306.
[5] 刘惟信. 机械最优化设计 [M]. 北京:清华大学出版社, 1994.143-148.
[6] MEDIO C D, GIUSEPPE O. Robot obstacle avoidance using vortex field [A]. Wien:Springer-Verlag, 1991.227-235.
[7] ALESSANDO D L, GIUSEPPE O. Local incremental planning for a car-like robot navigating among obstacles [A]. Minneapolis, 1996.1205-1211.
[8] FEDER H J S, SLOTINE J E. Real-time path planning using harmonic potentials in dynamic environments [A]. New Mexico, 1997.874-881.
[9] 柳在鑫, 王进戈, 李建防. 基于机器人足球系统仿真中的碰撞模型 [J]. 西华大学学报(自然科学版), 2006(4):69-70.doi:10.3969/j.issn.1673-159X.2006.04.024.
[10] 柳在鑫, 王进戈, 朱维兵. 正弦曲线的足球机器人路径规划 [J]. 华侨大学学报(自然科学版), 2006(4):426-428.doi:10.3969/j.issn.1000-5013.2006.04.025.

相似文献/References:

[1]柳在鑫,王进戈,朱维兵.正弦曲线的足球机器人路径规划[J].华侨大学学报(自然科学版),2006,27(4):426.[doi:10.3969/j.issn.1000-5013.2006.04.025]
　Liu Zaixin,Wang Jinge,Zhu Weibing.Soccer Robot Path Planning Based on Sinusoid[J].Journal of Huaqiao University(Natural Science),2006,27(2):426.[doi:10.3969/j.issn.1000-5013.2006.04.025]
[2]彭臻,王田,李晨阳,等.采用蚁群算法的移动摄像头探访规划[J].华侨大学学报(自然科学版),2014,35(5):533.[doi:10.11830/ISSN.1000-5013.2014.05.0533]
　PENG Zhen,WANG Tian,LI Chen-yang,et al.Visit Schedule of Mobile Cameras Base on Ant Colony Optimization[J].Journal of Huaqiao University(Natural Science),2014,35(2):533.[doi:10.11830/ISSN.1000-5013.2014.05.0533]
[3]王淑青,毛月祥,袁晓辉.有限状态机的多AGV路径优化策略[J].华侨大学学报(自然科学版),2019,40(2):239.[doi:10.11830/ISSN.1000-5013.201805047]
　WANG Shuqing,MAO Yuexiang,YUAN Xiaohui.Multi-AGV Path Optimization Strategy Based on Finite State Machines[J].Journal of Huaqiao University(Natural Science),2019,40(2):239.[doi:10.11830/ISSN.1000-5013.201805047]
[4]贾丙佳,李平.邻近障碍物整体化的机器人路径规划[J].华侨大学学报(自然科学版),2019,40(6):799.[doi:10.11830/ISSN.1000-5013.201903010]
　JIA Bingjia,LI Ping.Robot Path Planning With Integration of Neighbouring Obstacles[J].Journal of Huaqiao University(Natural Science),2019,40(2):799.[doi:10.11830/ISSN.1000-5013.201903010]
[5]葛文雅,李平.移动机器人路径规划安全A*算法[J].华侨大学学报(自然科学版),2022,43(5):658.[doi:10.11830/ISSN.1000-5013.202107028]
　GE Wenya,LI Ping.Safe A* Algorithm of Mobile Robot Path Planning[J].Journal of Huaqiao University(Natural Science),2022,43(2):658.[doi:10.11830/ISSN.1000-5013.202107028]

备注/Memo

备注/Memo:
四川省应用基础研究项目(0322129); 四川省重点学科研究项目(SZD425231)
更新日期/Last Update: 2014-03-23