Soccer Robot Path Planning Based on Genetic Potential Field Method

摘要

Artificial potential field method and genetic algorithm were used to realize the path planning for the soccer robot.First,designed a potential function with adjustable parameters by employing potential field principle,next,figured out the potential function with adjustable parameters under the known circumstances,then designed in genetic algorithm,used the genetic algorithm to optimize the parameters in the potential function and,finally obtained the genetic potential field method.Then,C++ programming was employed to realize the simulation platform for the method,on which a simulation experiment was conducted.The results indicated that the genetic potential field method was suitable for obstacle avoidance,applicable in real-time environment,and effective in solving the practical problems of path planning.