论文部分内容阅读
提出了一种新型的任意轨迹行走跟踪算法,该算法通过双调整作用策略来达到任意轨迹行走的目的:(1)选取适当的行走轨迹沿弧行走至轨迹跟踪点;(2)利用多种算法解决前一策略的缺陷问题,利用实现预期圆弧的角度突变调整补偿量辅助调整机器人姿态。经比赛实践检验,该算法具有良好的适应性,具有较强的抗干扰性,具有较强的轨迹跟踪能力。
A new tracking algorithm for arbitrary trajectory is proposed, which achieves the purpose of arbitrary trajectory walking by means of double adjustment strategy: (1) selecting the appropriate trajectory to travel along the arc to the trajectory tracking point; (2) using various algorithms To solve the defect of the previous strategy, the amount of compensation is adjusted by using the sudden change of the angle of the expected arc to help adjust the attitude of the robot. The game practice test, the algorithm has good adaptability, with strong anti-interference, with strong trajectory tracking ability.