张祺, 杨宜民. 基于改进人工势场法的足球机器人避碰控制[J]. 机器人, 2002, 24(1): 12-15.
引用本文: 张祺, 杨宜民. 基于改进人工势场法的足球机器人避碰控制[J]. 机器人, 2002, 24(1): 12-15.
ZHANG Qi, YANG Yi-ming. SOCCER ROBOT COLLISION AVOIDANCE CONTROL BASED ON EVOLUTIONARY ARTIFICIAL POTENTIAL FIELD[J]. ROBOT, 2002, 24(1): 12-15.
Citation: ZHANG Qi, YANG Yi-ming. SOCCER ROBOT COLLISION AVOIDANCE CONTROL BASED ON EVOLUTIONARY ARTIFICIAL POTENTIAL FIELD[J]. ROBOT, 2002, 24(1): 12-15.

基于改进人工势场法的足球机器人避碰控制

SOCCER ROBOT COLLISION AVOIDANCE CONTROL BASED ON EVOLUTIONARY ARTIFICIAL POTENTIAL FIELD

  • 摘要: 本文在分析足球机器人避碰的特点及传统人工势场法不足的基础上,提出了引入障碍物的速度和加速度矢量的改进人工势场法,用于足球机器人的避碰控制.仿真实验表明,这种方法是可行的,并弥补了传统人工势场法的不足.

     

    Abstract: This paper summarizes the characteristics of soccer robot collision avoidance, and points out the disadvantages of traditional artificial potential field. An evolutionary artificial potential field is presented, in which the vector of velocity and acceleration are considered. The collision avoidance simulation is carried out to verify the reliability of tbe method.

     

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