A Study on Soccer Robot Path Planning with Fuzzy Artificial Potential Field

摘要

Robocup of medium model group robot soccer match is taken as the study background, aimed at requirement of real-time, safety and target reaching in matches, path planning with the fuzzy artificial potential field method has been advanced in this paper. Focused on the existing problems of the conventional artificial potential field method, velocity vector has been introduced, modified potential field force function and the potential field force angle, integrated with the fuzzy control method, timely readjusted potential field force modulus of repulsion to overcome its drawbacks. The effectiveness of the method was approved on the MATLAB platform and the experimental result manifested that the method can improve the quality of path planning for matches.