机器人2013，Vol.35Issue(2)：218-226,9.DOI:10.3724/SP.J.1218.2013.00218
基于人工势场法的竞争型网络机器人攻防规划
Attack and Defense Planning for Competitive Networked Robots Based on Artificial Potential Field Method
摘要
Abstract
In order to beat the opponent in a competitive networked robot game, the robot need hit the target quickly and accurately while avoiding enemy's attack. In this paper, a novel approach combining trajectory planning and image-based visual servo control is proposed to quickly and effectively meet the requirements. Some main constraints such as attack avoiding, visibility, kinematic singularities, and joint velocity limits are taken into account. A trajectory is designed in the image space, which can be used in the image-based visual control directly. Simulations and experiments using an eye-in-hand robotic system on a 6-DOF (degree of freedom) robot manipulator are carried out to confirm that our approach can help the robot to hit the target and avoid attacks.关键词
竞争型网络机器人系统/视觉伺服/人工势场/轨迹规划Key words
competitive networked robot system/ visual servo/ artificial potential field/ trajectory planning分类
信息技术与安全科学引用本文复制引用
卢翔,刘景泰,李海丰,李岩,孙雷..基于人工势场法的竞争型网络机器人攻防规划[J].机器人,2013,35(2):218-226,9.基金项目
国家863计划资助项目(2012AA041403) （2012AA041403）
国家自然科学基金资助项目(60905061,60875056) （60905061,60875056）
天津市科技计划资助项目(08JCYBJC12700). （08JCYBJC12700）
