西安工程大学学报2016，Vol.30Issue(5)：609-615,7.DOI:10.13338/j.issn.1674-649x.2016.05.011
基于改进粒子群算法的足球机器人路径规划
Study on path planning of soccer robot based on improved particle swarm algorithm
摘要
Abstract
In order to adapt to the game's complex dynamic and static environment,the path planning of soccer robot is proposed based on polar coordinate modeling and improved partide swarm opimization algorithm.This method makes use of the convenient calculation and clear path of the simulation of polar coordinates.The path coding of soccer robot is put in the polar coordinates to j udges whether to operate the path planning or not by the distance relationship between current path point,next path point and barrier point.While the robots run into obsta-cles,the improved PSO algorithm with added nonlinear inertia weight is triggered for path planning.The simulation results prove the convergence of improved PSO algorithm and the ef-fectiveness of path planning.关键词
极坐标建模/粒子群算法/足球机器人/路径规划Key words
polar coordinate modeling/particle swarm optimization algorithm/soccer robot/path planning分类
信息技术与安全科学引用本文复制引用
高田田,张莉,李炳德,高晴..基于改进粒子群算法的足球机器人路径规划[J].西安工程大学学报,2016,30(5):609-615,7.基金项目
西安市科技局产学研协同创新计划(CXY1517(4)) （CXY1517(4）
