动态蔽障在仿真机器人足球上的应用【原创】.pdfVIP

Artificial Intelligence and Robotics Research 人工智能与机器人研究, 2014, 3, ***-*** doi:****/airr.2014.**** Published Online February 2014 (/journal/airr.html) The Research of Dynamic Obstacle Avoidance on Simulation Robot Soccer Jiawei Hu, Yong Liu, Zhao Liu School of Computer Science and Technology, Wuhan University of Science and Technology, Wuhan Email: 1106207961@ Received ********* 2014 Copyright © 2014 Jiawei Hu et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unre- stricted use, distribution, and reproduction in any medium, provided the original work is properly cited. In accordance of the Creative Commons At- tribution License all Copyrights © 2014 are reserved for Hans and the owner of the intellectual property Jiawei Hu et al. All Copyright © 2014 are guarded by law and by Hans as a guardian. Abstract: During the robot soccer game, it will be easily blocked when attacking because we are not able to choose a path to prevent the collision with opponent robot in time and accurately. In order to make attack not be blocked easily, an improved artificial potential field algorithm is proposed to choose path, so as to enhance the efficiency of the robot avoiding obstacles. It chooses the shortest path to reduce the time, so that it can lay a foundation for building up an at- tack. The algorithm improved the artificial potential field by increasing rotation force, so as to prevent falling into local optimal path selection. The simulation experiment results showed that the algorithm improved the robot obstacle avoidance validity and rationality, and it made the robot breach more easily. Keywords: Robot Soccer; Artificial Potential Field; Dynamic Obstacle Avoidance