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在RoboCup中型组足球机器人比赛环境下,实现机器人实时、有效的路径规划是赢得比赛的重要前提。本文综述了RoboCup中型组足球机器人比赛中的路径规划技术,并对这些路径规划算法特点进行了探讨。重点介绍算法相对简单且应用广泛的人工势场法及对该方法的改进算法的应用。最后对足球机器人路径规划的发展趋势进行了展望。
Realizing the robot’s real-time and effective path planning is an important prerequisite for winning the race under RoboCup medium-sized soccer robot competition. This paper reviews the path planning techniques used in the RoboCup medium-sized soccer robot competition and discusses the characteristics of these path planning algorithms. Emphasis is given to the relatively simple and widely used artificial potential field method and its application to the improved algorithm. Finally, the development trend of soccer robot path planning is prospected.