An Obstacle Avoidance Method of Soccer Robot Based on Evolutionary Artificial Potential Field

Abstract

In order to solve the problems that local minimum, path planning in obstacles, and optimizing global obstacle avoidance path, the paper proposed a new obstacle avoidance method. In this method, used the grid method to describe the information of obstacles environment, utilized the evolutionary artificial potential field method to optimize obstacle avoidance path. The simulation results show that the proposed method is feasible and effective.