Nanchang, China May 22 - 24, 2009

Nanchang, China May 22 - 24, 2009

WISA 2009

WISA 2009

Second International Symposium on

Web Information Systems and Applications

Second International Symposium on

Web Information Systems and Applications

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Proceedings of the 2nd International Symposium on Web Information Systems and Applications (WISA 2009)

Nanchang, China, May 22-24, 2009

Editors: Fei Yu, Jiexian Zeng, and Guangxue Yue

AP Catalog Number: AP-PROC-CS-09CN001

ISBN: 978-952-5726-00-8 (Print), 978-952-5726-01-5 (CD-ROM)

Page(s): 267-269

Improved Shooting Algorithm Based on Zone and Tangential Arc in Robot Soccer

Yang Guangying

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Abstract

A new method to plan the optimal path is presented. The optimal points between the robot and the target position are determined by geometry calculation. With these optimal points a collision-free path can be easily generated. This paper presents an improved shooting algorithm based on this method. The robot can move smoothly to the shooting state with high-speed through path planning. The shooting target is selected according to the least variation principle. And the shooting is accomplished along a circular-arc trajectory. The new approach is fit to any original angle of shooting robot and has a smooth transition from beeline to curve. Moreover, the oscillation of robot induced by adjusting original angle is also eliminated.

Index Terms

Robot Soccer; Shooting; Tangential arc; Path planningAlgorithm

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