In the research of intelligent mobile robot, autonomous mobility is a very key problem. It is very important to accurately and quickly respond to the surrounding environment, avoid obstacles in the process of moving in real time and move to the destination without interruption. Most of the existing path planning and obstacle avoidance algorithms do not consider the kinematic and geometric constraints of the robot parameters, there will be physical feasibility and versatility problems in the actual robot application; the existing martial arts challenge arena robot attack and defence control strategy, mainly rely on experience and try, accuracy and flexibility and other aspects are inadequate. In view of this, this article proposes a dynamic model based on virtual force, and applies it to the martial arts challenge arena robot, develops a set of attack and defence control strategy of martial arts challenge arena robot, completes the simulation experiment and the actual robot experiment, analyse the experimental results, and puts forward the improvement scheme. The experimental results show that the motion model proposed in this article can help the robot to complete the obstacle avoidance planning task, and the attack and defence control model based on the motion modelling can effectively improve the obstacle avoidance efficiency and attack and defence intensity of the martial arts challenge arena robot, and enhance the competitiveness of its confrontation.

中文翻译：

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基于运动动力学的武术竞技场机器人攻防控制研究

在智能移动机器人的研究中，自主移动是一个非常关键的问题。准确快速地对周围环境做出反应，在移动过程中实时避开障碍物，不间断地向目的地移动是非常重要的。现有的路径规划和避障算法大多没有考虑机器人参数的运动学和几何约束，在实际机器人应用中会存在物理可行性和通用性问题；现有的武术挑战赛场机器人攻防控制策略，主要靠经验和尝试，准确性和灵活性等方面都存在不足。鉴于此，本文提出了一种基于虚拟力的动力学模型，并将其应用到武术挑战竞技场机器人中，开发了一套武术挑战竞技场机器人的攻防控制策略，完成了仿真实验和实际机器人实验，对实验结果进行了分析，并提出了改进方案。实验结果表明，本文提出的运动模型能够帮助机器人完成避障规划任务，基于运动建模的攻防控制模型能够有效提高机器人的避障效率和攻防强度。武术挑战竞技场机器人，增强其对抗的竞争力。