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基于最优搜索的足球机器人射门算法

蒲勇 周兴社 王宇英   

  1. 西北工业大学 西北工业大学 西北工业大学
  • 收稿日期:2007-06-18 修回日期:1900-01-01 发布日期:2007-12-01 出版日期:2007-12-01
  • 通讯作者: 蒲勇

Shooting algorithm based on optimal search in robot soccer

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  • Received:2007-06-18 Revised:1900-01-01 Online:2007-12-01 Published:2007-12-01
  • Contact: Yong Pu

摘要： 机器人足球比赛中，小球的运动状态因受到碰撞和摩擦变化剧烈，所以大多数情况下不存在全局意义上的最佳射门路径，或者规划的路径机器人在给定的时间内根本无法完成。基于目标函数的足球机器人射门算法，通过在机器人运动能力范围内的最优搜索，能够找出当前状态下机器人按要求逼近球的最佳路径。该算法能够适应各种速度状态，明显提高机器人射门命中率，并迅速对小球状态突变做出响应。在比赛中，常常需要根据场上态势对机器人进行控制算法切换，但由于不同控制算法速度输出的跳跃性，机器人会出现相对球位置的抖动。针对以距离作为切换条件的情况下，不同控制算法切换时产生的"抖动"现象，分析了现象产生的原因，并通过S-曲线加权算法，有效避免了"抖动"的产生，实现了不同控制算法在切换边界的平滑过渡。

关键词: 机器人足球, 射门控制, 最优搜索, 抖动, S-曲线

Abstract: In the robot soccer competition, the ball's moving status is always changing and fluky because of the shoving and friction. In most cases, it is very difficult to find a global optimal shooting path, or the planning path can not be achieved by the robot in time. The new shooting method based on object function could find out the optimal path in current moving status, which ensures the robot to approach the ball according to the given angle, through an optimal search in the area that the robot can reach. This algorithm can fit to various speed statuses, improve the success rate of shoot, and react to the sudden changing of the ball's moving status. In all competitions, it is common to make a switch between different control algorithms, but the robot is likely to fall across an oscillation relative to the ball's situation due to the deferent velocity jump from the different control algorithms. According to the method which used the distance as a judge condition for algorithm switching, the dithering phenomenon by reason of different control algorithms was deep analyzed, and avoided by using a S- curve weighted algorithm, and the smooth-switch between different control algorithms on the switch borderline was realized.

Key words: robot soccer, shooting control, optimal search, dithering, S-curve

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