基于自主势场法的足球机器人路径规划研究

Path Planning of a Soccer Robot Based on Autonomous Potential Field

为了提高足球机器人在机器人足球比赛中的射门成功率,本文在分析传统人工势场法不足的基础上,对传统人工势场模型中的斥力势场函数进行了修改;提出了一种建立在改进人工势场模型基础上的基于自主势场的路径规划方法;构造了以足球机器人为中心的自主势场函数;分析了足球机器人在新势场下的运动规律;对改进势场模型和自主势场模型下两个势场函数进行了对比;并分析了改进势场模型和自主势场模型下相邻障碍物的势能图。最后分别对基于改进势场模型的方法和对基于自主势场的方法在不同环境下进行了仿真,仿真结果表明,自主势场法克服了传统势场法的缺点,实用性强,具有较强的路径规划能力,能很好地实现机器人在动态环境下的射门动作。

To improve the performance of a soccer robot in goal-shooting, the repulsive function is amended by ana- lyzing the shortcomings of the conventional artificial potential field. Autonomous potential field is presented to im- prove the artificial potential field for solving the path planning problem, and the autonomous potential field function of a soccer robot is constructed. In addition, the robot＇s movement in the new potential field is analyzed, the modi- fied artificial potential field model and the autonomous potential field model are contrasted, and each potential energy profile is analyzed. Simulation results demonstrate that the new method can overcome the shortcomings of the conventional potential field methods with better path planning capability and better performance in goal-shooting.