摘要
讨论了机器人足球比赛现实世界中各个实体的运行规律 ,建立了受非完整约束的移动机器人以及球的运动模型 ,并提出采用几何方法求解机器人运动模型精确解 ,以提高仿真精度 ,减少计算量·给出了机器人之间以及机器人与场地围墙、小球之间的碰撞模型 ,并分析了
The motion disciplinarian of entities in the real world of robot soccer game were discussed. The kinematics models of the ball and nonholonomic mobile robots were given. A kind of geometry method was presented to get precision solution of robot kinematics model. This method can decrease computation burden.The collision models of robots,ball and ground walls were given, and the collision procedure of 2 robots was expounded. These works provide a base for the development of soccer robot system simulation platform and robot's motion control.
出处
《东北大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2001年第5期493-496,共4页
Journal of Northeastern University(Natural Science)
基金
国家自然科学基金资助项目 ( 6 8975 0 0 3)
