MAC 96 color eyeshadow Region based soccer robot o

Region based obstacle avoidance path planning for robot soccer

Path. In addition, compared with other methods, this method also the following advantages: (1) by dividing the avoidance area, do not rule out a number of considerations,[link widoczny dla zalogowanych], which greatly reduces the computation; (2) The solutions of the triangle to determine the robot obstacle avoidance in the region is in a simple and effective; (3) by defining two sets and two operations on it to construct the grid, the concept of a clear, clear, simple and feasible. Overall, this is a more effective obstacle avoidance. To further improve the algorithm performance, the future need to do the following: find a better path evaluation criteria, to select the best path; add dynamic prediction,[link widoczny dla zalogowanych], to better adapt to the dynamic obstacle avoidance. References [1] Zhou Fang, Chen meters. RoboCnp small group of soccer robot path planning. SUN Zeng-Qi. Masters Cup and the 2003 China Robot Competition Workshop Proceedings Beijing: Chinese Association of Automation Robot Competition Committee, 2003.220 [2] Li-Chuan Wu, XU Xin. Soccer robot based on genetic algorithm obstacle avoidance strategy game design. Robot, 2001,23 (2): 142 [3] Yang Jinghua, Wang Sicong. Simplified EAPF in path planning applications. SUN Zeng-Qi. Masters Cup 2003 China Robot Competition and Conference Proceedings. Beijing: Chinese Association of Automation Robot Competition Committee, 20o3.2l6 [4] Bo, Yang Yimin. On the Control of Soccer Robot. Robot, 2004,[link widoczny dla zalogowanych],26 (2): 111 『51HEMAMIA, MEHRABIMG, CHENGRM. Syntl1esisforanoptimalcontrollawforpathtrackinginmobilerobots. Automat-ica, 1992,28 (2): 383 [6] Zhou Jinping. MATLAB6.5 Graphics and Image Processing and Applications. Beijing: Science Press, 2003.58Amethodofpath-planningforsoccerrobotbasedonobstacle. avoidanceareaLiuChang'an,[link widoczny dla zalogowanych], ChenYan, IjuChunyang, HongBingrong (SchoolofComputerScience & Technology,[link widoczny dla zalogowanych], NorthChinaElectricPowerUniversity, Beijing102206) (SchoolofComputerScience & Technology, HarbinInstituteofTechnology, Harbin150001) AbstractThispaperpresentsamethodofpath-planningforsoccerrobotbasedonobstacle-avoidancearea. First. themean-ingsandcharacteristicsofsoccerrobot'spath-planningareanalyzed. Secondly. anewmethodofdesigningobstacle-avoidanceareaispresentedandwhetherotherrobotsareinthisareaisjudgedbysolvingtriangle. Thirdly, theconcep-tionsoftwosetsareintroducedandtworelativeoperationsaredefined, thenanewmethodofmeshgenerationisdesignedaccordingtothese. rrheresultsofsimulationprovedthatthenewmethodpresentedinthispaperisquiteeffective. Keywords: soccerrobot, obstacle-avoidancearea, path-planning, mesh of a 37 -

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