双足足球机器人实时避障导航系统研究

Research on Real-time Obstacle Avoidance Navigation System of Biped Soccer Robot

  • 摘要: 介绍了避障控制系统的体系结构和基本步态算法.其次,介绍了路径规划策略,包括避障开始时的全局导航策略和穿越障碍物时的局域导航策略.分析了红外传感器测距实验数据及局域导航实验结果,验证了红外线传感器精确度和导航策略能够满足比赛要求.

     

    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.

     

/

返回文章
返回