Research On Path Planning And Obstacle Avoidance Strategy Of Soccer Robot

Navigation technology is the core of mobile robots technology. It involves a variety of problems about robot such as motion planning, path selection and obstacle avoidance etc. For soccer robot, the focus of intelligent robot level is path planning, which is an important subject in navigation technology, and obstacle avoidance. The path planning of soccer robot from one place to another in an environment with obstacles according to the status of target point by control system offered, on which the soccer robot uses less time and has no collision. As the rudimental of achieving the basic action of soccer robot, path planning plays a very important role of basic performance and individual activity for robot.In this dissertation, it mainly researches path planning problems of soccer robot and explores the effective ways to solve new path planning problems in the actual combat. First of all, it mainly analyzes the hardware structure and key technology of autonomous soccer robot system. Secondly, in order to make the whole path of robot more smooth, it is important to build a perfect mathematical model and the theoretical analysis on robot moving speed and rotation speed. Thirdly, through perform the analysis of an existing path planning method, combined with the characteristics of robot soccer; the path planning ways of artificial potential field method is improved. The shortcomings of artificial potential field method are revised, which is more easily appeared local minimum and can not arrive at target point. The robot can smoothly and fast get to the target point with the artificial potential field method optimized by the GA. Finally, the simulation experiment on MATLAB proved that improved artificial potential field method can overcome previous shortcomings in competition location, and the optimal path planning.