足球机器人路径规划算法的研究及其仿真

研究足球机器人路径规划优化问题,足球机器人由于赛场情况千变万化,系统本身存在非线性,环境也具有时变性特点,要求机器人相互协作实时性要求高。结合足球机器人系统特点,提出一种蚁群算法的足球机器人路径规划算法。把每一只蚂蚁看作是一个机器人,蚂蚁根据信息素调整自己的前进方向,通过蚂蚁间的信息交流和相互协作快速找到一条最短的机器人运行无碰撞的路径。采用算法进行测试,结果表明,用蚁群算法较好地克服了局部最优的缺陷,获得最优路径,且无碰撞现象,符合足球机器人路径规划的实时性要求。

Research and Simulation of Path Planning of Robot Soccer

Soccer robot game requires cooperation of the robots and high real-time.Combined with the characteristics of soccer robot,the paper put forward a soccer robot path planning algorithm based on ant colony algorithm.Each ant as a robot,ants adjusted moving directs according to the information,and through the exchanging information and the cooperation among the ants,the shortest path was find quickly without collision,Finally,the simulation experiment was tested to verify the algorithm performance.The experimental results indicate that,relative to the genetic calculate,the ant colony algorithm can overcome the defect of local optimum,obtain the optimal path,and has no collision The robot path planning is in real-time.