CAJ | 학술논문

在机器人足球比赛中，比赛过程对抗性激烈，需要机器人在运动状态下完成障碍物的躲避，但是当前的多机器人时间配合任务中，对避障的要求往往都是单一的，静态的障碍物，对运动中的同视觉机器人壁障效果不好。为了解决这一问题，提出一种基于多传感器运动信息约束规划的机器人视觉避障技术，采取信号采样技术采集多路机器人信号，采用射线追踪算法和内建的相撞检测机制，对足球机器人实际的不同路状下进行障碍躲避。实验证明该方法具有很好的鲁棒性与有效性。
재궤기인족구비새중，비새과정대항성격렬，수요궤기인재운동상태하완성장애물적타피，단시당전적다궤기인시간배합임무중，대피장적요구왕왕도시단일적，정태적장애물，대운동중적동시각궤기인벽장효과불호。위료해결저일문제，제출일충기우다전감기운동신식약속규화적궤기인시각피장기술，채취신호채양기술채집다로궤기인신호，채용사선추종산법화내건적상당검측궤제，대족구궤기인실제적불동로상하진행장애타피。실험증명해방법구유흔호적로봉성여유효성。
In robot soccer game, the game process antagonistic fierce, need the robot motion state of complete obstruction from, but the current robot with task, time for obstacle avoidance requirements often are single, static obstacles, the mo-tion of the robot with visual barrie result is bad. In order to solve this problem, the paper proposes a kind of based on multi-sensor motion information constrained programming of the robot visual obstacle avoidance technology, take signal sampling technology acquisition multiple robots signal, the use of the ray tracing algorithm and built-in collision detec-tion mechanism, to soccer robot actual different road shape from the obstacle. Results show that this method has good ro-bustness and effectiveness.