基于复形法求解多智能体避障问题的研究

Study for Obstacle Avoidance in the Multigent System Based on the Method of Complex

该文基于最优化方法中的复形法,对多智能体领域里的机器人足球避障问题,给出了最短路径的解决方法。它在机器人足球避障问题的解法中有其突出的特点。首先,在执行避障动作时,以尽可能小的动作幅度完成了动作执行,此方法应用于多球员的比赛,如11对11,较其它方法尤具优势。其次,以往有关避障问题的解法,计算量大,对机器人奔跑速度影响较大,该文采用复形法求解的数学模型公式,克服了此类缺点,方法简单,计算速度快。在仿真实验里,取得了理想的效果。

This paper gives the method of the shortest path for obstacle avoidance of robot soccer in the multigent system based on the method of complex of optimization.It has preferable characteristics in those methods of obstacle avoidance of robot soccer.At first,the robot soccer can avoid an obstacle in the most small action area as possible as it can,and the method has more advantages than other ones when it is applied to the matches with more teammates,such as11VS.11.Secondly,about the precious methods for obstacle avoidance number of calculation is so large that it has a great effect on the running velocity of robot soccer.The method given in this paper adopts the math formula of com-plex,and overcomes the disadvantage like above and is simple in algorithm as well as fast in calculation.The result in simulation is more perfect.