基于consensus的人工势能场在足球机器人避障中的应用  

Application of consensus-based evolutionary artificial potential filed approach in obstacle avoidance for soccer robots

作　　者：吕冬梅[1] 颜秉勇[2] 刘喜梅[1] 

机构地区：[1]青岛科技大学自动化系,青岛266042 [2]上海交通大学自动化系,上海200240

出　　处：《高技术通讯》2007年第7期714-718,共5页Chinese High Technology Letters

基　　金：国家自然科学基金（60574023）和青岛市科技发展计划（05-1-JC-88）资助项目.

摘　　要：在分析足球机器人路径规划方法--人工势场法不足的基础上,将基于consensus的人工势能场的新方法应用到机器人避障中.为了避免传统人工势场中导航函数方式的缺点,引入一与运动方向垂直的回转仪的力来代替排斥力.为了避免由障碍物引起的运动奇异性,引入一制动力,使足球机器人减速以便有足够的时间转弯,可以进行很好的避障.利用consensus算法来获得优化的势能场函数,解决足球机器人导航和避障问题,并能达到时间最优和轨迹最优的目的.仿真结果表明该方法能够快速准确地进行避障,且路径比较平滑.By analyzing the disadvantage of the traditional APF （artificial potential filed）-based approach ila the soccer robot path planning study, a novel improved EAPF （evolutionary artificial potential filed） approach via consensus was proposed. To avoid the disadvantage of NFM （navigation function method）, we introduced a gyroscopic force to replace the repulsion force with its direction uprightness and used a brake force to let the agent swerve in an effective time, which can make the agents avoid the motion singularities that may arise due to the effect of obstacles. It solved the problem of soccer robot＇s navigation and obstacle avoidance with the optimal potential function which was derived by consensus method. What＇s more, it meets the optimization of time and tracking error. The simulation showed the proposed method can not olny make the obstacle avoidance more quick and precise, but also make the path more smooth.

关 键 词：CONSENSUS 足球机器人 人工势能场 回转仪 避障 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]