摘要
基于机器人小车到达定点常用Turn-Run-Turn方法及PID方法的不足,利用双圆弧具有满足任意端点及其斜率要求的特性,来解决机器人小车到达目标点位置和姿态的运动过程中遇到障碍物及保持最佳姿态的路径规划问题。该方法简单有效,对机器人初始条件不加限制,计算量非常小,具有较高的实用价值。
This paper summarizes and points out the disadvantages of the turn-run-turn and PID algorithm. In this paper bi-arcs are used to solve the path-planning problem of collision avoidance and holding appropriate position because they meet two end-point and two end-tangent conditions. The method presented here is simple, effective and computationally undemanding and it has no restraints on the initial conditions of soccer robot.
出处
《西华大学学报（自然科学版）》
CAS
2005年第6期46-48,共3页
Journal of Xihua University:Natural Science Edition
基金
四川省应用基础研究资助项目(0322129)
四川省重点学科研究资助项目(SZD425231)
