The Obstacle Avoidance Application of the EAPF based on Consensus in the Robot soccer

摘要：

This article introduces an approach of the obstacle avoidance based on consensus in the robot soccer and analysis the disadvantage of the traditional artifical potential field (APF). The agents can avoid the obstacles by introducing gyroscopic force to replace the repulsion force.We solve the navigation and obstacle avoidance of robot with the optimal potential function which is derived by combining EAPF with GA and satisfy the real-time optimization.

关键词： EAPF based on Consensus gyroscopic force gradient function optimal time

作者: Fei Yu Dongmei Lv Song Yuan Ximei Liu

作者单位: College of Automation and Electronic Engineering, Qingdao University of Science and Technology Qingdao, Shandong Province, China

会议类型: 国际会议

会议名称: 2006 International Symposium on Distributed Computing and Applications to Business,Engineering and Science(2006年国际电子、工程及科学领域的分布式计算应用学术研讨会)

会议地点: 杭州

会议语种:英文

页码: 1032-1035

在线出版日期: 2006-10-12（万方平台首次上网日期，不代表论文的发表时间）