Chaotic Potential Field Method and Application in Robot Soccer Game

摘要

This paper presents a novel optimization algorithm, which is named chaotic artificial potential field method and can be applied for the mobile robot path planning. By combining an improved chaotic optimization algorithm with the artificial potential field method (AFP), the new optimization algorithm has been formulated. Compared with the conventional artificial potential field method, the algorithm can generate the local optimal path for the obstacle avoidance more efficiently in real time in the dynamic environments. The simulation results demonstrate the rationality and validity of the path planning algorithm. Finally, the algorithm has been applied to the robot soccer game and the experimental results show that it is feasible and applicable