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

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.