6LEE B J, LEE S O, PARK G T. Trajactory generation and motion tracking control for the robot soccer game[ A ]. Proceedings of the 1999 IEEE/RSJ international Conference on intelligent Robots and systems[ C]. 1999.1149 - 1154.
7WONG C C, CHOU M F, HWANG C P, et al. A method for obstacle avoidance and shooting action of the robot soccer[ J]. Proceedings of the 2001 IEEE international Conference on Robotics & Automation Seoul[ C]. 2001.3778 - 3782.
8Moreton D N, Parkinson D B. The application of bi-arc technique in CNC mathiningJ[]. Computer-Aided Engineering Design Journal, 1991(8) : 54-60.
9Meek D S, Walton D J. Approximation of discrete data by G ' arc splines [J]. Computer-Aided Design, 1992,24(6) : 301-306.