| 改进的足球机器人局部极小值的研究 |
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| 引用本文： | 张莉,周杰. 改进的足球机器人局部极小值的研究[J]. 西安工程科技学院学报, 2014, 0(5): 620-625 |
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| 作者姓名： | 张莉 周杰 |
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| 作者单位： | 西安工程大学电子信息学院,陕西西安,710048 |
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| 摘 要： | 针对传统人工势场法在足球机器人路径规划中的局限,提出通过改造斥力模型,从而解决算法在静态路径规划中存在的局部极小值问题.通过引入速度势场产生速度斥力,从而解决算法不适应动态环境和动态环境存在的局部极小值问题.仿真验证了算法的有效性.
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| 关 键 词： | 人工势场 足球机器人 路径规划 速度势场 |
The evolutionary artificial potential field approach for resolving the problem of the robocup local minimal |
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| ZHA NG Li,ZHOU Jie. The evolutionary artificial potential field approach for resolving the problem of the robocup local minimal[J]. Journal of Xi an University of Engineering Science and Technology, 2014, 0(5): 620-625 |
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| Authors: | ZHA NG Li ZHOU Jie |
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| Affiliation: | (School of Electronics and Information, Xi＇an Polytechnic University,Xi＇an 710048,China) |
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| Abstract: | In view of the traditional APF approach in robocup path planning limitations,the evolutionary algorithm has been transformed into repulsion model,to solve the local minimum which exists in the static path planning.On the other hand,the evolutionary algorithm also produced speed repulsion by introducing velocity potential field,to solve the problem of value algorithm not adapting to local minimal in the dynamic environment and the dynamic environment.Finally,the simulation shows that the algorithm is effective. |
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| Keywords: | artificial potential field robocup path planning velocity potential field |
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