Application of Robot Obstacle Avoidance Algorithm and Attack Strategy on ROS

Autor:	Jiancai Ye, Nan Kang, Biaoliang Guan, Shicheng Cai, Tengyu Zhang, Yingze Yang
Rok vydání:	2023
Předmět:	History Computer Science Applications Education
Zdroj:	Journal of Physics: Conference Series. 2456:012007
ISSN:	1742-6596 1742-6588
DOI:	10.1088/1742-6596/2456/1/012007
Popis:	China Robot Competition, which integrates the theory and practice of multi-disciplinary intelligent robot system, is one of the most influential robot competitions in China. In this paper, we apply RRT * and APF to the Middle Size Simulation League of soccer on ROS and propose an attack strategy based on extremum. Our experiments showed that the implementation of RRT* and APF optimizes the multiple iterations existing in original obstacle avoidance algorithm and greatly improves the performance of robots when there are fewer obstacles and the maximum speed of obstacle avoidance is limited. Besides, our attack strategy has proved effective on boosting the chances of goal and helped the Central South University to win the championship of China Robot Competition Middle Size Simulation League in 2021.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::85197d618e1fb970700ef7e24403bd78 https://doi.org/10.1088/1742-6596/2456/1/012007 Zobrazit plný text záznamu