基于机器人平台的四象限追击算法研究 黄 伟 1 袁 2 袁 杨 卫 1 袁 2 袁 张文栋 1 袁 2 ( 1. 中北大学电子测试技术国家重点实验室,山西太原 030051; 2. 中北大学仪器科学与动态测试教育部重点实验室,山西太原 030051 ) 摘 要院该文基于轮式机器人平台,通过建立数学模型并求解,设计一种机器人追击算法,对入侵轨迹进行分析和总 结,从而实现对平面四个象限内各个方向入侵目标的全方位追击。实验验证该算法实时性好,简单易行,具有重要的 实用价值。 关键词院机器人;四象限;全方位;追击算法 中图分类号院TP24曰TP301.6曰TP391.9曰TN911.7 文献标志码院A 文章编号院1674-5124渊2014冤03-0075-05 Study of four quadrant pursuit algorithm based on robot platform HUANG Wei 1, 2 ,YANG Wei 1, 2 ,ZHANG Wen-dong 1, 2 ( 1. National Key Laboratory for Electronic Measurement Technology, North University of China Taiyuan 030051, China; 2. Key Laboratory of Instrumentation Science and Dynamic Measurement, North University of China Taiyuan 030051, China ) Abstract: This paper introduced an algorithm based on the platform of wheeled mobile robot, which is about all-round pursuit of the invading target in the four quadrants of the plane. In establishing the mathematical model, solving the model, a robot pursuit algorithm is designed. The algorithm achieves all -round pursuit of the invading target in the four quadrants of the plane,through analyzing and summarizing the intrusion paths. The experimental results show that the algorithm is real-time,simple and easy,and it has very important practical value. Key words: robot;four-quadrant;full direction;pursuit algorithm 收稿日期院2013-08-26曰收到修改稿日期院2013-10-17 作者简介:黄 伟( 1986- ),男,河北辛集市人,硕士研究生, 专业方向为嵌入式电子电路系统。 0 引 言 随着社会发展和科技进步,机器人在生产生活中 得到越来越多的应用,轮式移动机器人作为其中的 一个重要分支,以其控制方便、行走速度快、工作效 率高等优点在工业、农业、反恐防爆、家庭、空间探测 等各个领域得到广泛的应用 [1] 。运动目标的追击与拦 截问题在实际生活中有很多应用:如在军事上,导弹 攻击、拦截来袭的敌方运动目标;在自动生产线上, 机器人从传送带抓取物体;在机器人足球赛中,机器 人需要追击运动的足球、对方机器人等。 目前很少有专门的文献介绍和研究机器人追击 问题。机器人追击问题和拦截问题类似,文献[2]中介 绍了有关“追逃游戏”( pursuit-evasion game )模型的 导弹制导律的研究,文献[3] 中提出了一种鲁棒几何 算法来解决导弹制导中的目标拦截问题,文献[4-5]中 介绍了自适应视觉跟踪和高斯网络算法在机器人抓 取中的应用,文献[6]中阐述了机器人运用理想比例 导航技术进行运动目标的拦截问题,文献[7]中对空 间航天器作战中的拦截问题进行了讨论。更多的研 究则集中于机器人足球赛中截球动作,文献[8-12]中 分别通过改进的 PEE 算法、专家 PID 算法、推算定 位( RD )算法、提前角导引算法等对机器人足球赛中 的截球策略进行了研究。 中国测试 CHINA MEASUREMENT & TEST Vol.40 No.3 May, 2014 第 40 卷第 3 期 2014 年 5 月 doi院10.11857/j.issn.1674-5124.2014.03.021
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Study of four quadrant pursuit algorithm based on robot platform
HUANG Wei1,2,YANG Wei1,2,ZHANG Wen-dong1,2
(1. National Key Laboratory for Electronic Measurement Technology,North University of ChinaTaiyuan 030051,China;
2. Key Laboratory of Instrumentation Science and Dynamic Measurement,North University of ChinaTaiyuan 030051,China)
Abstract: This paper introduced an algorithm based on the platform of wheeled mobile robot,which is about all-round pursuit of the invading target in the four quadrants of the plane. Inestablishing the mathematical model, solving the model, a robot pursuit algorithm is designed.The algorithm achieves all -round pursuit of the invading target in the four quadrants of theplane,through analyzing and summarizing the intrusion paths. The experimental results show thatthe algorithm is real-time,simple and easy,and it has very important practical value.Key words: robot;four-quadrant;full direction;pursuit algorithm