杨晶东, 黄庆成, 洪炳镕. 双足足球机器人实时避障导航系统研究[J]. 机器人, 2005, 27(6): 530-534..
YANG Jing-dong, HUANG Qing-cheng, HONG Bing-rong. Research on Real-time Obstacle Avoidance Navigation System of Biped Soccer Robot. ROBOT, 2005, 27(6): 530-534..
Abstract：First,the control system architecture of obstacle avoidance and the basic walking gait algorithms are presented.Then,the path planning strategies are put forward,consisting of the global navigation strategy,which is applied in the beginning of obstacle avoidance,and local navigation strategy which is used while crossing among obstacles.Finally,through analyzing the experimental data,such as infrared sensor range finding as well as local navigation,it is concluded that the strategies are able to satisfy the rules of the FIRA game.
[1] 王火亮,孙守迁.基于超声波传感器测距的家用自主式移动吸尘器路径规划算法[J].计算机应用研究,2002,19(8):57-61. [2] 薄喜柱,洪炳镕.动态环境下多移动机器人路径规划的一种新方法[J].机器人,2001,23(9):407-410. [3] 张琪,杨宜民.基于改进势场的足球机器人避碰控制[J].机器人,2002,24(1):12-15. [4] 蔡自兴,徐光佑.人工智能及其应用[M].北京:清华大学出版社,1996. [5] Vukobratovic M, Borovac B, Surdilovic D. Zero-moment point proper interpretation and new applications[A]. Procoedings of the 2nd IEEE-RAS International Conference on Humanoid Robots [C].USA:IEEE,2001.237-244. [6] Huang Q, Sugano S, Tanie K. Stability compensation of a mobile manipulator by manipulator motion:feasibility and planning[J]. Advanced Robotics,1999,13(1):25-40.
