基于改进势场法的足球机器人路径规划系统

A Soccer Robot Path Planning System Based on Modified Artificial Potential Field Method

人工势场法是机器人路径规划中应用较多的一种方法,但方法在障碍物较多时由于势场合力不容易控制而常常出现避障失败现象。足球机器人比赛系统场上障碍物情况复杂,尤其是在边界附近和禁区附近,传统势场法较难胜任。根据足球机器人比赛平台特点和赛场上较常出现的情况,重点对边界附近和禁区附近的机器人路径规划进行分析研究,根据比赛平台的特点将周围环境的物理特点转化成特定的数学表达式,糅合到传统势场函数公式中进行改进处理,从而构造出能够适应足球场地环境的人工势场路径规划系统。仿真实验结果证明该方法是有效的。

Artificial potential field approach is a common used method in robot path planning. But the composition of force is difficult to control when there are too many obstacles, thus its path planning often failed. Obstacles in robot soccer system are more complex, especially when on the borders and forbidden zones, and it is not competent for traditional artificial potential field approach. Based on the known characteristics of the platform and the possible situations in robot soccer game, a modified artificial potential field method is brought forward, which is focused on the path planning on the borders and forbidden zones. In this modified method, physical characters are converted to mathematic expressions and integrated with traditional potential field functions. Based on the modified potential field method, a robot soccer path planning is established, and its efficiency is proved by simulation experimentation.