| 基于改进势场法的足球机器人避障路径规划 |
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| 引用本文： | 钟碧良,张 祺,杨宜民. 基于改进势场法的足球机器人避障路径规划[J]. 控制理论与应用, 2003, 20(4): 623-626 |
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| 作者姓名： | 钟碧良 张 祺 杨宜民 |
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| 作者单位： | 1. 广东工业大学,自动化学院,广东,广州,510090;茂名学院,自动化系,广东,茂名,525000
2. 广东工业大学,自动化学院,广东,广州,510090 |
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| 基金项目： | 国家863计划项目(512-9935-08、2001A422270); 广东省教育厅自然科学基金(2000274). |
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| 摘 要： | 分析了势场法用于移动机器人路径规划中产生目标不可达问题的原因, 提出了改进的斥力势场函数, 将机器人与目标的相对距离考虑在内, 以确保总的势场力在目标位置全局最小. 改进的势场法应用于足球机器人避碰控制. 仿真与应用结果表明, 它能有效地解决在目标附近有障碍物时目标不可达问题.
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| 关 键 词： | 势场法 目标不可达 路径规划 足球机器人 |
| 文章编号： | 1000-8152(2003)04-0623-04 |
| 收稿时间： | 2002-09-27 |
| 修稿时间： | 2002-09-27 |
Anti-collision path planning for soccer robot using modified potential field method |
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| ZHONG Bi-liang,ZHANG Qi and YANG Yi-min. Anti-collision path planning for soccer robot using modified potential field method[J]. Control Theory & Applications, 2003, 20(4): 623-626 |
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| Authors: | ZHONG Bi-liang ZHANG Qi YANG Yi-min |
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| Affiliation: | Faculty of Automation, Guangdong University of Technology, Guangdong Guangzhou 510090, China; Department of Automation, Maoming College, Guangdong Maoming 525000, China;Faculty of Automation, Guangdong University of Technology, Guangdong Guangzhou 510090, China;Faculty of Automation, Guangdong University of Technology, Guangdong Guangzhou 510090, China |
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| Abstract: | This paper analysed the causes of goal nonreachability when the potential field method was utilized in robot path planning and gave the modified repulsive potential function. In order to ensure global minimum of the total potential in the goal position, the relative distance between the robot and the goal was considered. The modified potential function was applied to anti-collision control of soccer robot. The results of simulation and application have verified that the modified potential field method can solve the problem effectively when obstacles exist near the goal. |
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| Keywords: | potential field method goal nonreachable path planning soccer robot |
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