The Study of Soccer Robot Path Planning Based on Grid-Based Potential Field Method Improvements

2010 ◽  
Vol 139-141 ◽  
pp. 1798-1802 ◽  
Author(s):  
Xiao Jun Zhao ◽  
Jia Bi ◽  
Meng Zhe Liu ◽  
Lei Chen
Keyword(s):  
Path Planning ◽  
Potential Field ◽  
Grid Method ◽  
Field Method ◽  
Robot Path Planning ◽  
Soccer Robot ◽  
Potential Field Method ◽  
Dynamic Potential ◽  
Grid Based ◽  
Robot Path

An improved dynamic Grid-based potential field method was proposed based on the consideration that the goal, robot and obstacles in robot soccer compete are all dynamic. We combined the advantages of potential field method and the grid method, set the grid method to represent the environment, and got dynamic potential function in the potential field method. We used dynamic potential function to form the inspire function of the search algorithm A* which is used for the search of adjacent nodes. The dynamic Grid-based potential field method meets the real-time planning requirements in the complex and dynamic environment. And it has received very good results in solving the local minima problem of the traditional potential field and improving the planning efficiency. It is better in security and reliability. Simulation results show that the method is feasible and effective in soccer robot path planning.

A Potential Field Method for Path Planning Into Cavities Defined by B-Splines

1998 ◽  
Author(s):  
Alley C. Butler ◽  
Steven R. LeClair
Keyword(s):  
Path Planning ◽  
Potential Function ◽  
Potential Field ◽  
Robot Manipulator ◽  
Field Method ◽  
Robot Path Planning ◽  
B Splines ◽  
Field Approach ◽  
Potential Field Method ◽  
Robot Path

Abstract This paper describes a potential field approach to robot path planning into cavities defined by B-splines. It discusses existing methods, and describes the development of a Voronoi tree using intersecting hodographs. The Voronoi tree is similar to the Voronoi diagram in that it is maximally distant from all objects in the robot’s environment, but the Voronoi tree is developed for cavities modeled by splines. By adding a potential field to the robot manipulator, a robot path can be found by seeking the manipulator position with the minimum value of the potential function. This position as defined by the potential field is also maximally distant from cavity walls. Results with the potential field method are discussed and conclusions are drawn.

Mobile Robot Path Planning Based on Artificial Potential Field Method

2014 ◽  
Vol 577 ◽  
pp. 350-353 ◽  
Author(s):  
Bao Feng Zhang ◽  
Ya Chun Wang ◽  
Xiao Ling Zhang
Keyword(s):  
Path Planning ◽  
Potential Field ◽  
Simulation Experiment ◽  
Field Method ◽  
Artificial Potential Field ◽  
Robot Path Planning ◽  
Combination Optimization ◽  
Potential Field Method ◽  
Artificial Potential Field Method ◽  
Robot Path

Various combination optimization algorithms have been designed to solve the problem of robot path planning, but every algorithm has some limitation. The artificial potential field method has superiorities in positive feedback, flexibility and collaboration, which convert it into adapt to the trend of path planning algorithms in the intelligent and bionic direction. Artificial potential field method is advanced in the environment of static grid in this paper. Then the feasibility and practicability of the algorithm are backed by a simulation experiment.

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