基于时间最优的足球机器人路径规划
首发时间:2010-11-23
摘要:路径规划一直是足球机器人研究的热点问题。足球机器人的路径规划是基于传感器所获得信息来决策符合机器人运动约束和其他运动性能要求的行为,所以一直是机器人研究的难点。目前用于路径规划的方法很多,比如人工势场法、栅格法、可视图法及各种人工智能方法如:遗传算法、神经网络算法、蚁群算法等等。本论文在足球机器人系统平台上,针对机器人路径规划问题,主要研究了遗传算法,并利用行之有效的方法来解决实际中基于时间最优的路径规划问题。
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Soccer robot based on time optimal path planning
Abstract:Path planning has been a hot robot soccer problem. Soccer robot path planning is obtained based on the sensor information to decision-making in line with the robot constraints and other performance requirements of the act of movement, it has been difficult robot research. Currently used in many path planning methods, such as artificial potential field method, grid method, can view a variety of law and artificial intelligence methods such as: genetic algorithm, neural network algorithms, such as ant colony algorithm. In this paper, the soccer robot system platform for robot path planning problem, the main study the genetic algorithm, and use effective methods to solve the practical problem of path planning.
Keywords: soccer robot path planning genetic algorithm
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