摘要
人工势场法是足球机器人避碰规划中常用的方法,传统人工势场法在静态环境中取得了很好的效果,但它不能够满足复杂的动态环境下实时规划的要求。将相对速度矢量引入人工势场,对势场函数进行改进,推导出基于速度矢量的引力函数和斥力函数。在新的势场函数作用下,机器人能够快速躲避障碍物并迅速到达目标位置,仿真结果验证了方法的有效性。
The Artificial Potential Field（APF） is in common use obstacle avoidance path planning for the Robot Soccer. But the traditional method can not adopt to complex and dynamic environment. The velocity vector is brought to the potential field. Then a new repulsive potential and attractive potential are deduced, with which the robot can escape from obstacles and move to target quickly. The effectiveness of the new potential field is verified by simulation.
出处
《武汉理工大学学报》
CAS
CSCD
北大核心
2009年第13期133-136,共4页
Journal of Wuhan University of Technology
基金
河北省自然科学基金(F2008000860)
关键词
足球机器人
避碰规划
人工势场法
速度矢量
soccer robot
obstacle avoidance path planning
artificial potential field
velocity vector
