Multi-soccer Robot Path Planning Based On Chaotic Artificial Potential Method

Soccer robot is a new interdisciplinary research area, referring to diverse fields like robotics, intelligent control, artificial life, etc. In the robot soccer, the validity of the action and behavior absolutely depend on the accurate forecast and effectual planning of the path as well as the proper orientation of the robot when it touches the ball. The main aim of path planning is finding out a path without collision in a field full of competition. As the basic of the primary action of soccer robot, the validity of path planning directly affects the real time and accurateness of the action, so almost every researcher in this field look it as an emphasis.Taking the MiroSot robot as the study object, the paper made a deep study on the path-planning through practicing theory. The study mainly lies in the following aspects:Firstly, it made a comprehensively analysis on the present study circumstance and its development direction and then decided the study direction and content of the paper.Secondly, the basic concept of chaotic artificial potential method is introduced in this thesis. The method is very practical and effective in robot local path planning. A nearly optimal path beyond local interval can be developed effectively in dynamic environment by using this method, which avoids traditional artificial potential field's limitations that it is easy to get optimal solution in local interval and that it is unable to find a path between two nearer obstacles.Finally, to solve the path planning problem for multi-soccer robot, a method which combines chaotic artificial potential method, probability forecast and priority strategy proposed.The simulation experiment and the real competition show that this algorithm which we research is able to plan a better path rapidly in any complex environment only if the path exists, and validated the effectiveness of the proposed approach.