利用渐开线的足球机器人射门算法研究

Shooting Algorithm of Soccer Robot Using Involute

为了进一步提高足球机器人的射门成功率,使射门动作更快更准,在分析了基本算法不足的基础上,利用光滑、可微的渐开线来解决机器人小车到达目标点的射门问题.通过建立球场坐标系及机器人小车的运动轨迹坐标系,导出了旋转矩阵与平移矩阵,对球场坐标系和运动轨迹坐标系进行了坐标转换,并运用几何学方法建立了机器人在运动过程中的避碰模型,最后利用优化设计中的内点惩罚函数法对机器人小车进行了运动路径寻优.仿真结果表明,该算法可优化足球机器人射门的运动轨迹,优化后的方法不但可以减小问题的复杂度,而且具有极高的实时性,因此较好地实现了机器人在动态环境下的射门动作,提高了射门的成功率.

To improve soccer robot shooting accuracy, velocity and success rate, by analyzing the shortcomings in the existing shooting algorithms, the smooth and differentiable involute is used to simulate the shooting at the goal points. A moving locus coordinate system based on robot and court coordinate system is established, the rotation matrix and translation matrix are deduced to solve the difficulty in the coordinate transformation between the moving locus coordinate system and the court coordinate system. The collision models of robots in moving path are constructed geometrically. And the moving path variables are optimized with the internal penalty function method. The simulated results demonstrate that this method is able to optimize the path of a soccer robot, decrease the complexity, enhance the real time capability, and perform the shooting action better to heighten the success goaling rate.