基于改进DWA算法的足球机器人局部轨迹规划  

Local trajectory planning of soccer robot based on improved DWA algorithm

作　　者：王旭扬 梁志伟[1] 高翔[1] 焦陆生 付羽佳 Wang Xuyang;Liang Zhiwei;Gao Xiang;Jiao Lusheng;Fu Yujia(College of Automation and Artificial Intelligence,Nanjing University of Posts and Telecommunications,Nanjing 210023,China)

机构地区：[1]南京邮电大学自动化与人工智能学院,南京210023

出　　处：《国外电子测量技术》2023年第8期1-9,共9页Foreign Electronic Measurement Technology

基　　金：国家自然科学基金(61104216);南京邮电大学基金(NY219123)项目资助。

摘　　要：针对足球机器人处于封闭式环境中,动态窗口法(dynamic window approach,DWA)极易陷入局部极小值以及动态干扰下,算法输出速度曲线震荡严重等问题,提出了一种基于辐射值计算的改进DWA算法,首先对子评价函数进行修正,进一步提高评价模型的合理性;其次通过提出辐射值计算,为算法添加新的评价维度并引入局部极小值检测方法;接着,建立并求解多目标优化问题实现对权重系数的动态调整;最后通过控制点姿态校正来提高对全局路径的跟随效率。实验结果表明,改进算法能够进行更加合理的规划,输出更加稳定的速度曲线,同时不易陷入局部极小值并且能够顺利逃离封闭障碍区域,并满足足球机器人的实时比赛需求。Aiming at the problems that the football robot is in a closed environment,the dynamic window approach(DWA)is easy to fall into the local minimum value and the speed curve output by the algorithm is seriously oscillating under the dynamic disturbance.This paper proposes an improved DWA algorithm based on radiation value calculation.First,the sub-evaluation function is modified to further improve the rationality of the evaluation model.Secondly,by proposing radiation value calculation,a new evaluation dimension is added to the algorithm and a local minimum value detection method is introduced.Then,a multi-objective optimization problem is established and solved to realize the dynamic adjustment of weight coefficients.Finally,the tracking efficiency of the global path is improved through control point attitude correction.Experiments show that the improved algorithm can make more reasonable planning,output a more stable speed curve,and is not easy to fall into local minimum and can escape from closed obstacle areas smoothly,and meet the real-time game requirements of football robots.

关 键 词：动态窗口 足球机器人 辐射值计算 动态权重 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]