第4期 黄彦文，等：RoboCup比赛环境下足球机器人路径规划研究 ·57 away,2000. [12]CAO Qixin,HUANG Yanwen,ZHOU Jingliang.An [4]NAM Y S,LEE B H,KO N.An analytic approach to evolutionary artificial potential field algorithm for dy- moving obstacle avoiding using an artificial potential field namic path planning of mobile robot[A.Proceedings of [A].IEEE International Conference on Intelligent Ro- the 2006 IEEE/RSI International Conference on Intelli- bots and Systems[C].Pittsburgh,USA,1995. gent Robots and Systems[C].Beijing,China,2006. [5]ZHANG B T,KIM S H.An evolutionary method for ac- [13]KHA TIB O.Real time obstacle avoidance for manipula- tive learning of mobile robot path planning[A].Proceed- tors and mobile robots[J ]J Robotics Res,1986,5(1): ings of IEEE International Symposium on Computational 90.98. Intelligence in Robotics and Automation,CIRA [C]. 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Dynamic motion planning for mobile robots using potential field method [J ]. Autonomous Robots ,2002 , 13 (3) :207 - 222. [11 ] FRAICHARD T H , LAU GIER C. On line reactive planning for a nonholonomic mobile in a dynamic work [A ]. IEEE International Conference on Robotics and Automation[C]. [ S. l. ] ,1991. [12 ]CAO Qixin , HUAN G Yanwen , ZHOU Jingliang. An evolutionary artificial potential field algorithm for dy2 namic path planning of mobile robot[ A ]. Proceedings of the 2006 IEEE/ RSJ International Conference on Intelli2 gent Robots and Systems[C]. Beijing , China ,2006. [ 13 ] KHA TIB O. Real time obstacle avoidance for manipula2 tors and mobile robots[J ]. J Robotics Res ,1986 ,5 (1) : 90 - 98. [14 ] PIA GGIO M , SGORBISSA A. AI2CART : an algo2 rithm to incrementally calculate artificial potential fields in real2time [ A ]. 1999 IEEE International Symposium on Computational Intelligence in Robotics and Automa2 tion , CIRA ’99[C]. [ S. l. ] ,1999. [15 ]DRIAN KOV D ,SAFFIO TTI A. Fuzzy logic techniques for autonomous vehicle navigation [ M ]. New York : Physica2Verlag , 2001. [ 16 ] YAN G X , PA TEL R V , MOALL EM M. A fuzzy2 Braitenberg navigation strategy for differential drive mobile robots[ A ]. Proc 3rd IFAC Symp. Mechatronic Systems[C]. Sydney , Australia ,2004. [17 ]SAFFIO TTI A. The uses of fuzzy logic in autonomous robot navigation[J ]. Soft Comput ,1997 (1) :180 - 197. 作者简介 : 黄彦文 ,女 ,1979 年生 ,博士研究生 ,主 要研究方向为智能机器人控制、多机器人 协作. E2mail : huangyw @sjtu. edu. cn. 曹其新 ,男 ,1960 年生 ,博士 ,教授 ,博 士生导师 ,主要研究方向为全自主移动机 器人、机器视觉、多机器人协作、空间探测 机器人 ,发表学术论文 50 余篇. E2mail : qxcao @sjtu. edu. cn. 第 4 期 黄彦文 ,等 :RoboCup 比赛环境下足球机器人路径规划研究 · 75 · © 1994-2008 China Academic Journal Electronic Publishing House. All rights reserved. http://www.cnki.net