RoboCup比赛环境下足球机器人路径规划研究

RoboCup中型组足球机器人比赛具有高度的对抗性和实时性．比赛中机器人需要针对不同的比赛态势进行角色切换和任务选择．在这种环境下，应用传统人工势场或一般改进型人工势场的路径规划方法都无法得到令人满意的结果．将障碍物与机器人之间的相对速度矢量以及目标与机器人之间的相对速度矢量分别引入人工势场法中，对传统的势场函数进行了改进；并根据机器人的不同角色和任务，采用模糊逻辑方法对势场函数进行修正，提出一种处理多角色多任务环境的改进型人工势场法机器人路径规划方法．仿真试验和实际应用验证了此算法存足球机器人比赛系统中的可行性．

Path planning for robot soccer in the RoboCup environment

The RoboCup middle size robot soccer game is full of intense competition and has a strong realtime property. During a match, a robot must change its roles and tasks, in real-time, according to the game situation. In this situation we cannot get satisfactory results using a traditional or even an improved artificial potential field. This paper proposes a new improved potential field method based on fuzzy logic to deal with the multi-task/multi-role situation. It can effectively analyze the effects of relative location and velocity on the robots, the obstacles, and the goals. Computer simulations demonstrate the effectiveness of path planning using the new potential field method.