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Soccer robot path planning based on the artificial potential field approach with simulated annealing

Published online by Cambridge University Press:  19 August 2004

Pei-Yan Zhang ,
Tian-Sheng Lü  and
Li-Bo Song
Pei-Yan Zhang
Affiliation:
School of Mechanical and Power Engineering, Shanghai Jiaotong University, Shanghai 200030 (China). E-mail: py_zhang1976@163.com
Tian-Sheng Lü
Affiliation:
School of Mechanical and Power Engineering, Shanghai Jiaotong University, Shanghai 200030 (China). E-mail: py_zhang1976@163.com
Li-Bo Song
Affiliation:
College of Mechanical Engineering, Donghua University, Shanghai 200051 (China).
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Abstract

The paper presents research on the APF approach for solving the GNRON and local minima problems. The repulsive potential function is modified in order to solve the GNRON problem. A simulated annealing algorithm integrated into the APF has solved the local minimum problem. The improved APF is applied to the path-planning problem of soccer robots. The simulated experiments show the validity of this approach.

Keywords

Path planningArtificial potential fieldSimulated annealingGNRON problem

Information

Type
Research Article
Information
Robotica , Volume 22 , Issue 5 , October 2004 , pp. 563 - 566
Copyright
© 2004 Cambridge University Press

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