[1]HUANG Yan-wen,CAO Qin-xin.Path planning for robot soccer in the RoboCup environment[J].CAAI Transactions on Intelligent Systems,2007,2(4):52-57.
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Path planning for robot soccer in the RoboCup environment

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 2 Number of periods: 2007 4 Page number: 52-57 Column: 学术论文—智能系统 Public date: 2007-08-25
Title:
Path planning for robot soccer in the RoboCup environment
Author(s):
HUANG Yan-wen;  CAO Qin-xin
Research Institute of Robotics, Shanghai Jiaotong University, Shan ghai 200240, China
Keywords:
artificial potential field;  fuzzy logic method;  path planning;  multitask multirole situation;  robot soccer
CLC:
TP2426
DOI:
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Abstract:
The RoboCup middle size robot soccer game is full of intense competit ion and has a strong realtime property. During a match, a robot must change i t s roles and tasks, in realtime, according to the game situation. In this situa t ion we cannot get satisfactory results using a traditional or even an improved artificial potential field. This paper proposes a new improved potential field m ethod based on fuzzy logic to deal with the multitask/multirole situation. I t can effectively analyze the effects of relative location and velocity on the rob ots, the obstacles, and the goals. Computer simulations demonstrate the effecti veness of path planning using the new potential field method.
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