| 引用本文: | 钟碧良,张 祺,杨宜民.基于改进势场法的足球机器人避障路径规划[J].控制理论与应用,2003,20(4):623~626.[点击复制] |
| ZHONG Bi-liang,ZHANG Qi,YANG Yi-min.Anti-collision path planning for soccer robot using modified potential field method[J].Control Theory and Technology,2003,20(4):623~626.[点击复制] |
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| 基于改进势场法的足球机器人避障路径规划 |
| Anti-collision path planning for soccer robot using modified potential field method |
| 摘要点击 1373 全文点击 1896 投稿时间：2002-09-27 修订日期：2003-02-21 |
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| DOI编号 10.7641/j.issn.1000-8152.2003.4.032 |
| 2003,20(4):623-626 |
| 中文关键词 势场法 目标不可达 路径规划 足球机器人 |
| 英文关键词 potential field method goal nonreachable path planning soccer robot |
| 基金项目 国家863计划项目(512-9935-08、2001A422270); 广东省教育厅自然科学基金(2000274). |
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| 中文摘要 |
| 分析了势场法用于移动机器人路径规划中产生目标不可达问题的原因, 提出了改进的斥力势场函数, 将机器人与目标的相对距离考虑在内, 以确保总的势场力在目标位置全局最小. 改进的势场法应用于足球机器人避碰控制. 仿真与应用结果表明, 它能有效地解决在目标附近有障碍物时目标不可达问题. |
| 英文摘要 |
| This paper analysed the causes of goal nonreachability when the potential field method was utilized in robot path planning and gave the modified repulsive potential function. In order to ensure global minimum of the total potential in the goal position, the relative distance between the robot and the goal was considered. The modified potential function was applied to anti-collision control of soccer robot. The results of simulation and application have verified that the modified potential field method can solve the problem effectively when obstacles exist near the goal. |