Application of Evolutionary Artificial Potential Field in Robot Soccer System
نویسندگان
چکیده
Evolutionary Artificial Potential Field (EAPF) functions are utilized for mobile robot navigation in a microrobot soccer (MiroSot) environment. In a micro-robot soccer system the robots are monitored using an overhead CCD Camera, making it suitable for real time application of the EAPF functions. The effectiveness of the EAPF functions in real time mobile robot navigation are verified through experimentation. The EAPF functions proposed are tested in different scenarios related to ball tracking and ball kicking, while facing competition from other robots.
منابع مشابه
Study of Evolutionary and Swarm Intelligent Techniques for Soccer Robot Path Planning
Finding an optimal path for a robot in a soccer field involves different parameters such as the positions of the robot, positions of the obstacles, etc. Due to simplicity and smoothness of Ferguson Spline, it has been employed for path planning between arbitrary points on the field in many research teams. In order to optimize the parameters of Ferguson Spline some evolutionary or intelligent al...
متن کاملAn Unsupervised Learning Method for an Attacker Agent in Robot Soccer Competitions Based on the Kohonen Neural Network
RoboCup competition as a great test-bed, has turned to a worldwide popular domains in recent years. The main object of such competitions is to deal with complex behavior of systems whichconsist of multiple autonomous agents. The rich experience of human soccer player can be used as a valuable reference for a robot soccer player. However, because of the differences between real and simulated soc...
متن کاملNavigation of a Mobile Robot Using Virtual Potential Field and Artificial Neural Network
Mobile robot navigation is one of the basic problems in robotics. In this paper, a new approach is proposed for autonomous mobile robot navigation in an unknown environment. The proposed approach is based on learning virtual parallel paths that propel the mobile robot toward the track using a multi-layer, feed-forward neural network. For training, a human operator navigates the mobile robot in ...
متن کاملAdaptive Sliding Mode Tracking Control of Mobile Robot in Dynamic Environment Using Artificial Potential Fields
Solution to the safe and collision-free trajectory of the wheeled mobile robot in cluttered environments containing the static and/or dynamic obstacle has become a very popular and challenging research topic in the last decade. Notwithstanding of the amount of publications dealing with the different aspects of this field, the ongoing efforts to address the more effective and creative methods is...
متن کاملEffective Mechatronic Models and Methods for Implementation an Autonomous Soccer Robot
Omni directional mobile robots have been popularly employed in several applications especially in soccer player robots considered in Robocup competitions. However, Omni directional navigation system, Omni-vision system and solenoid kicking mechanism in such mobile robots have not ever been combined. This situation brings the idea of a robot with no head direction into existence, a comprehensi...
متن کامل