基于注意机制的改进人工势场的机器人路径规划

Robot Path Planning Base on Artificial Potential Field Method and Attention Mechanism

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机器人陷入势场陷阱中。足球机器人比赛系统场上敌我状态复杂,加上动态变化的场上环境,对实时性要求很高。本文对注意机制在机器人足球比赛中的应用进行研究,根据比赛平台模型的特点并从能量角度将场上的引力和斥力转化成特定的关于能量的数学表达式,将其和注意机制相结合,提出新的改进人工市场的方法。基于注意机制的改进人工势场算法,将原有的合力势场变成重力势场,使机器人自主规划前进路线。最后本文使用仿真方法证明该方法的可行性。

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,the robot often failed to make path planning for there is trap of potential field. Enemy and friend condition in robot soccer system are complex,and also this is a dynamic area,and it is very important in real time computing. Using on the robot path planning will be doing research on attention mechanism,and doing research on the traditional potential field method,and at last a new method of the potential field function will be announced. 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,change the composition of forces to gravitation force,and a robot soccer path planning is established,and its efficiency is proved by simulation experimentation.