Anti-collision path planning for soccer robot using modified potential field method

Abstract

This paper analysed the causes of goal nonreachability when the potential field method was utilized in robot path planning and gave the modified repulsive potential function. In order to ensure global minimum of the total potential in the goal position, the relative distance between the robot and the goal was considered. The modified potential function was applied to anti-collision control of soccer robot. The results of simulation and application have verified that the modified potential field method can solve the problem effectively when obstacles exist near the goal.