基于进化势场法的足球机器人路径规划研究

本文介绍了近年来在国际上迅速发展起来的高技术对抗性活动—机器人足球。首先概述这一赛事及目前发展状况。其次简单介绍足球机器人系统各组成部分,重点放在决策部分。本文设计了基于进化势场法的足球机器人路径规划法,该方法具有结合足球机器人平台特性的优点,包括基础路径规划子系统、边界路径规划子系统和禁区路径规划子系统。通过实际比赛平台的检验,证明该设计方法是行之有效的。

Study of Soccer Robot Path-planning Based on Evolutionary Artificial Potential Field

In the thesis, RobnCup（ Robnt Soccer World Cup） which is a high-tech and attractive competition quickly cleveloping in the world these years are introduced. Firstly, the origin and the development of RoboCup these years are surmnarized. Secondly, main components of the whole system are briefly presented, focused on the decision-making. Finally, a soccer robot path-planning method is designed based on evolutionary artificial potential field. The method has the merit of combining with platform and inclules the basic path-planning subsystem, boundary path-planning subsystem and forbidden zone path-planning subsystem. The method is effective by the testimony on RoboCup small size league.