基于遗传势场法的足球机器人路径规划

以足球机器人系统为研究背景,采用了人工势场法和遗传算法相结合的方法,实现了足球机器人路径规划.首先根据势场原理设计可调参数的势场函数,再规划出已知环境下可调参数的势场函数,然后设计遗传算法中的相关适应值函数,最后用遗传算法优化势场函数中的参数,得到遗传势场法.同时利用C++编程实现遗传势场法的仿真平台,并在该平台上进行仿真实验,结果表明,遗传势场法具有避障以及适于在实时环境中使用的优点,在解决实际路径规划问题中是行之有效的.

Soccer Robot Path Planning Based on Genetic Potential Field Method

Artificial potential field method and genetic algorithm were used to realize the path planning for the soccer robot.First,designed a potential function with adjustable parameters by employing potential field principle,next,figured out the potential function with adjustable parameters under the known circumstances,then designed in genetic algorithm,used the genetic algorithm to optimize the parameters in the potential function and,finally obtained the genetic potential field method.Then,C++ programming was e...