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人工势场法是足球机器人避碰规划中常用的方法,传统人工势场法在静态环境中取得了很好的效果,但它不能够满足复杂的动态环境下实时规划的要求。将相对速度矢量引入人工势场,对势场函数进行改进,推导出基于速度矢量的引力函数和斥力函数。在新的势场函数作用下,机器人能够快速躲避障碍物并迅速到达目标位置,仿真结果验证了方法的有效性。
The artificial potential field method is a commonly used method in the collision avoidance of soccer robot. The traditional artificial potential field method has achieved good effect in static environment, but it can not meet the requirements of real-time planning in complex dynamic environment. The relative velocity vector is introduced into the artificial potential field to improve the potential field function, and the gravitational and repulsive force functions based on the velocity vector are deduced. Under the function of the new potential field, the robot can quickly avoid the obstacle and quickly reach the target position. The simulation results verify the effectiveness of the method.