全自主足球机器人在不确定信息下的位置规划

Position Planning for Autonomous Soccer Robots Based on Uncertain Information

针对全自主足球机器人在比赛中获取定位信息不准确的特点 ,提出了一种在不确定信息下的位置规划方法———二圆定位法及其相应的信息融合方法———韦思图法。利用上述方法 ,不但能使机器人的运动控制具有更大的灵活性和鲁棒性 ,而且能使机器人的路径规划实现快速性 ,准确性和攻守兼备性这三者之间的协调。最后的实验和比赛实践证明 ,这种方法是可行而有效的。

According to the fact that the position information acquired by the autonomous soccer robot in the match is uncertain,in this paper a new method of path planning named Double Circle Orientation and its corresponding method of data fusion named Welse Map are presented. By use of the two methods we can not only control the motion of the robot more flexibly and adaptively but also make the path planning realize the harmony among rapidity, accuracy and the character of attacking and defending. In the end, the result of experiment and the match practice indicates that the method is feasible and valid.