Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Trajectory Planning of Multi Agent Robots for Robot Soccer Using Complex Potential

복소 포텐셜을 이용한 로봇 축구용 다개체 로봇의 경로 계획

  • 이경희 (경희대학교 전자정보대학) ;
  • 김동한 (경희대학교 전자정보대학) ;
  • 류근호 (호서대학교 로봇공학과)
  • Received : 2012.04.19
  • Accepted : 2012.10.04
  • Published : 2012.12.01
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Abstract

This paper deals with the trajectory planning of multi agent robots using complex potential theory for robot soccer. The complex potential theory is introduced, then the circle theorem is used to avoid obstacles, and the vortex pair is used to make precise kicking direction of robot. Various situations of robot soccer are simulated and the effect of vortex strength and the speed of robots are discussed and the better way to avoid obstacles and to kick the precise direction is found. The feasibilities of complex potential theory to apply for the multi agent robots are successful.

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