Application of evolutionary artificial potential field in robot soccer system

Abstract

Evolutionary artificial potential field (EAPF) functions are utilized for mobile robot navigation in a microrobot soccer (MiroSot) environment. In a micro-robot soccer system the robots are monitored using an overhead CCD Camera, making it suitable for real time application of the EAPF functions. The effectiveness of the EAPF functions in real time mobile robot navigation are verified through experimentation. The EAPF functions proposed were tested in different scenarios related to ball tracking and ball kicking, while facing competition from other robots.