Research And Realization On Path-planning For Soccer Robots

Soccer robot system is a typical multi-agent system and a real-time, dynamic, oppositional complicated environment. It provides a new standard test-bed and theoretical research model for artificial intelligence with multi-agent systems. The problem of robot path-planning is an important task in intellectual robot research. In such an adversarial and competitive environment, how to realize the real-time robot path-planning is a challenge problem. At present, many researchers apply various technologies to the soccer robot path-planning, such as artificial potential field, grads modeling method, evolutionary algorithms and artificial neural network. However, the application of these theories is not perfect in high dynamic and real-time environment, and some more effective algorithms should be investigated.This thesis is based on soccer robot system. It mainly focuses on the problem of robot path-planning and explores effective methods to solve this problem.Firstly, this paper gives the architecture of the soccer robot system and its key technologies and analyzes the importance of path-planning in this system. We also investigate the system model of robot soccer and the characteristics of soccer robot's path-planning. On the basis of the above work, the author studies several traditional methods of the soccer robot's path-planning and discusses their advantage, disadvantage and feasibility. Especially, discusses the artificial potential field method, give improved function of potential field to solve the problem of GNRON, import the velocity vector field to fit dynamic environment.Then, for the application of path-planning in the action realization of soccer robot, presents a new method of Path-planning based on Bezier curve. Import the Bezier curve of graphics to our Path-planning, a smooth Bezier curve path is designed according to the positions and direction both at the current and aim point of the robot. Then the PID control algorithm with error control is used to trace the curve. The simulations and field match show the accuracy and success rate of action realization are improved evidently after adopting the method.Finally, for another application of path-planning in the avoid-obstacles of soccer robot, present new method of soccer robot's path-planning based on time optimization. In order to improve the speed of robot's movement, the path is described with a smooth Bezier curve instead of traditional broken lines, then the control points of Bezier curve presenting the path is optimized by genetic algorithm. The fitness function of the genetic algorithm takes full consideration of three factors which affect the time of robot's movement: security, length and...