Based On Improved RRT With Artificial Potential Field Hybrid Algorithm Of Robot Soccer Path Planning Research

Robot soccer is robot, which can act on its own in a football game in a known area, in the competition rules and corresponding robot dynamic competition environment, and achieve a series of technical actions, include automatic without collision finding ball, dribbling, shooting and so on. In the process of robot soccer competition, path planning is one of the important component parts. real-time path planning in the process of robot soccer is discussed in this paper to achieve a series of movements in dynamic competition environment, include obstacle avoidance, find the ball and so on, and to solve the problems that may arise deadlock in the path planning.Aim at the research platformn of robot soccer in xian university of science and technology, it's hardware and software platform is introduced in this paper, Then rapidly-exploring random tree (RRT) algorithm and artificial potential field method is analyzed, evaluating their feasibility of two algorithms used in robot soccer, and respectively discusses and analyzes the application of robot soccer platform, points out their respective advantages and disadvantages. On this basis, it is found that if rapidly-exploring random tree (RRT) algorithm and artificial potential field method is to mix, then can make both parties represented the merits and demerits of robot soccer is complementary and solve the deadlock during games. So robot soccer path planning method of RRT and artificial potential field hybrid algorithm is deduced. After analysis and research it is found that the hybrid algorithm has problems of randomness, and then traditional RRT algorithm of randomness of defect was improved. Aterwards, function of target gravity is dicussed in the RRT algorithm, then the improved RRT algorithm and the artificial potential field method are mixed. Finally robot soccer path planning method of hybrid algorithm based on improved RRT and artificial potential field is put forward. Computer simulation results show that, with based on improved RRT artificial potential field of the path planning a hybrid algorithm approximate optimal and quite smooth, obstacles smoothly arrive at the target from the starting point.Based on the path planning of the hybrid algorithm, puts forward a kind of virtual target type automatic walk of robot soccer, solve the problems of automatic walk. Meanwhile, mechanism of holding ball is transformed, according to the problem of unstable mechanism of holding ball in our school robot soccer, the original physical passive holding agencies transform to dc-motor active mechanism of holding ball.The experiments are conducted in the actual robot soccer system platform, the hybrid algorithm of path planning and transformed mechanism are tested in actual competitions. The experiments show that: robot soccer have shown good obstacle-avoiding and target effect in various state environment, proved that the hybrid algorithm has superiorities; planning path has shown good effect in the process of holding ball and dribbling, proved the superiority of reformed mechanism, successfully achicved the goal. Because of the improved robot soccer hardware and software platform, our school football team has obtained excellent results in many national robot competitions.