[1]郝利波,侯媛彬.基于一种改进RRT算法的足球机器人路径规划[J].西安科技大学学报,2011,(01):81-85.
 HAO Li-bo,HOU Yuan-bin.Robot soccer path planning based on an improved rapidly-exploring random tree[J].Journal of Xi'an University of Science and Technology,2011,(01):81-85.
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基于一种改进RRT算法的足球机器人路径规划()
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西安科技大学学报[ISSN:1672-9315/CN:61-1434/N]

卷:
期数:
2011年01期
页码:
81-85
栏目:
出版日期:
2011-01-29

文章信息/Info

Title:
Robot soccer path planning based on an improved rapidly-exploring random tree
文章编号:
1672-9315(2011)01-0081-05
作者:
郝利波侯媛彬
西安科技大学 电气与控制工程学院,陕西 西安 710054)
Author(s):
HAO Li-bo HOU Yuan-bin
College of Electrical and Control Engineering, Xi'an University of Science and Technology,Xi'an 710054,China
关键词:
快速扩展随机树(RRT) 路径规划 足球机器人 目标引力函数
Keywords:
Rapidly-Exploring Random Tree(RRT) path planning robot soccer
分类号:
TP24
文献标志码:
A
摘要:
针对足球机器人运用传统快速扩展随机树(RRT)算法进行路径规划时随机性大的问题,提出了一种目标引力式的RRT路径规划算法。该算法在RRT算法的基础上引入了一个目标引力函数,避免了扩展随机树向目标点以外的方向生长,改进了快速扩展随机树缺乏确定性的问题,提高了足球机器人在路径规划方面的效率。仿真实验结果表明,该算法能够得到最佳路径,同时可以有效提高路径的规划速度。
Abstract:
Owing to large of random in robot soccer using rapidly-exploring random tree tradition(RRT)algorithm for path planning, proposed a target gravity-type RRT path planning algorithm. Based on the RRT algorithm, the algorithm introduces a Function of Target Gravity, avoids the expanding random tree growing toward a direction apart from target point, improves a problem that the PRT lack of certainty,and raised the efficiency of path planning in robot soccer. The simulation and experiment result shows that the algorithm can get an optimal path, meanwhile it can effectively improve the path planning speed.

参考文献/References:

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备注/Memo

备注/Memo:
基金项目: 陕西省自然科学基金(2009JM8002) 通讯作者: 郝利波(1984-),男,河南新乡人,硕士研究生,主要从事智能控制方面的研究工作.
更新日期/Last Update: 2011-01-29