[1]黄彦文,曹其新.RoboCup比赛环境下足球机器人路径规划研究[J].智能系统学报,2007,2(4):52-57.
　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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RoboCup比赛环境下足球机器人路径规划研究

《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷: 2 期数: 2007年第4期 页码: 52-57 栏目: 学术论文—智能系统 出版日期: 2007-08-25
Title:
Path planning for robot soccer in the RoboCup environment
文章编号:
16734785(2007)04005206
作者:
黄彦文，曹其新
上海交通大学机器人研究所，上海200240
Author(s):
HUANG Yan-wen, CAO Qin-xin
Research Institute of Robotics, Shanghai Jiaotong University, Shan ghai 200240, China
关键词:
人工势场; 模糊逻辑; 路径规划; 多角色多任务环境; 足球机器人
Keywords:
artificial potential field;  fuzzy logic method;  path planning;  multitask multirole situation;  robot soccer
分类号:
TP2426
文献标志码:
A
摘要:
RoboCup中型组足球机器人比赛具有高度的对抗性和实时性.比赛中机器人需要针对不同的比赛态势进行角色切换和任务选择.在这种环境下，应用传统人工势场或一般改进型人工势场的路径规划方法都无法得到令人满意的结果.将障碍物与机器人之间的相对速度矢量以及目标与机器人之间的相对速度矢量分别引入人工势场法中，对传统的势场函数进行了改进；并根据机器人的不同角色和任务，采用模糊逻辑方法对势场函数进行修正，提出一种处理多角色多任务环境的改进型人工势场法机器人路径规划方法.仿真试验和实际应用验证了此算法在足球机器人比赛系统中的可行性.
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.
参考文献/References:
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备注/Memo

收稿日期：2006-12-14.
基金项目：国家高技术研究发展计划资助项目（2006AA04Z261）.
作者简介：
黄彦文，女，1979年生，博士研究生，主要研究方向为智能机器人控制、多机器人协作. E-mail: huangyw@sjtu.edu.cn.
曹其新，男，1960年生，博士，教授，博士生导师，主要研究方向为全自主移动机器人、机器视觉、多机器人协作、空间探测机器人，发表学术论文50余篇. E-mail: qxcao@sjtu.edu.cn.

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