Mirosot机器人带球避障研究

Study on The Obstacle Avoidance of Mirosot Robot

Mirosot机器人避障路径规划在不考虑球体运动的情况下,大多采用蚁群算法、神经网络算法以及策略配合等方法。Mirosot机器人在带球避障过程中应同时考虑球体受力和初始角度两个限制条件。在考虑球体运动的情况下,采用物理运动学受力分析方法建立球体受力运动路径轨迹方程,以解决机器人带球避障路径规划问题。

The problem of a path planning of Mirosot robot avoiding obstacle,without considering the ball movement,most of the use of ant colony algorithm,neural network algorithm and methods of strategy cooperation,etc.to realize the path planning of robot obstacle avoidance.The purpose of this paper is to solve the problem of a path planning of Mirosot robot avoiding obstacle considering the ball movement.In this paper,the physical kinematic force analysis method is used to analyze and solve the problem,and the trajectory equation of the moving path of the ball is established.The results show that the Mirosot robot has two limiting conditions for ball force and initial angle selection in the process of avoiding obstacle with ball.It is concluded that the two constraints of the ball force and the initial angle should be taken into account in the process of a path planning of robot avoiding obstacle with ball.It is common to apply ant colony optimization,neural network algorithm and strategy matching to avoid obstructions with the ball in Mirosot robot path planning.The two constraint conditions of sphere stress and initial angle should be considered in Microsot robot's path planning.This paper adopts the physical kinematic force analysis to establish the trajectory equation of the sphere movement path,which helps to solve the robot path planning avoiding obstructions with the ball.