足球机器人路径规划仿真研究

Soccer Simulation of Robot Path Planning

研究了足球机器人路径优化选择问题,机器人运动与规划路径有误差,使实时性和准确性受到影响。针对传统的机器人路径规划算法过于复杂,同时没有充分考虑到足球机器人在比赛中实时性和对抗性等问题,导致实时性差以及射门准确率低。提出一种结合路径预测的路径最优算法,充分利用预测结果减少每周期的路径规划时间,并采用动态基准圆预测的射门策略,并对守门策略进行改进。进行仿真的结果表明,所提出算法在足球机器人比赛中具有可行性,射门准确率得到提高,击球时机器人达到较快速度,使得敌方更难防守,守门员在防守时充分地体现了智能性,证明算法优化了机器人路径,提高了实时性和准确性,为设计提供了依据。

This paper discusses soccer robot path optimization selection problems.Robot path planning has some errors,so that real-time and accuracy are affected.Traditional robot path planning algorithms were complex and not fully took into account real-time in the game of soccer robot and confrontational issues,leading to poor real-time and low shoting accurate.This paper proposed an optimal path algorithm combined with path prediction,which takes the advantage of the predicted path planning to reduce the time of per cycle.Dynamic base circle shot prediction strategies were used to improve goalie.Simulation results show that the proposed algorithm in robot soccer competition is feasible and can improve the shooting accuracy,fastern the hitting speed to make enemy more difficult to defend.This algorithm improves the ability of real-time and accuracy,and provides the basis for similar design.