Robot Soccer Path Planning Based on Vector Potential Field

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Robot Soccer Path Planning Based on Vector Potential Field

更新时间：2023-11-28

- Robot Soccer Path Planning Based on Vector Potential Field
- Advanced Engineering Sciences Vol. 38, Issue 2, Pages: 70-73(2006)
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- Published：2006，
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姚进,李洪,曹成才.基于矢量势场法的机器人足球路径规划[J].工程科学与技术,2006,38(2):70-73.

Robot Soccer Path Planning Based on Vector Potential Field. [J]. Advanced Engineering Sciences 38(2):70-73(2006)
姚进,李洪,曹成才.基于矢量势场法的机器人足球路径规划[J].工程科学与技术,2006,38(2):70-73. DOI：

Robot Soccer Path Planning Based on Vector Potential Field. [J]. Advanced Engineering Sciences 38(2):70-73(2006) DOI：

摘要

中文摘要: 基于传统人工势场方法，提出了在适应于障碍物和目标都动态变化的机器人路径规划方法。针对机器人足球的特点，在每个时间周期中，球场上的障碍物和边界对机器人产生排斥的位置矢量，球对机器人产生吸引的位置矢量和角度矢量，机器人在这些矢量的作用下，可以产生下一个时刻的路径点，最终每个时刻的路径点形成了机器人的路径。仿真结果表明，所提出的路径规划方法能够满足机器人在动态环境中实时路径规划的要求

Abstract

Abstract:An approach for robot soccer path planning is proposed

which is based on conventional artificial potential field. In the robot court field

robots get repulsion position vector produced by obstacle robots and boundaries of robot court

and attraction position vector and angle by ball. All the vectors are used to result in the next path point so as to form a path which can avoid obstacles and get to the goal in the dynamic circumstance. The simulated experiments indicate that this approach achieves real time path planning for robot soccer.

关键词

路径规划人工势场位置矢量机器人足球

Keywords

path planningartificial potential fieldposition vectorrobot soccer

references

Pu Songhao,Hong Binrong.Mobile robot patt planning in dynamic environment[J].Journal of Robotics,2003,25(1):18-21.[朴松昊,洪炳熔.一种动态环境下移动机器人的路径规划方法[J].机器人,2003,25(1):18-21.]

Holland.Adaptation in natural and artificial systems[M].Ann Arbor:University of Michigan press,1975.

Kondo M,Kimura K.Collision avoidance using a free space enumeration method based on grid expansion[J].Advanced Robotics,1989,3(3):159 -175.

Qussama Khatib.Real-time obstacle avoidance for manlpulators and mobile robots[J].Int J Robotics Res,1986,5(1):90-98.

Jong Hwan Kin,Kwang Choon Kim.Path planning and role selection mechanism for soccer robots[C]//Proc of 1998 IEEE International Conference on Rototics and Antomation,Belgium,1998.

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