The Research on Path Planning Algorithm of RoboCup Based on PFNPGA
To improve the poor efficiency in path planning that caused by not taking RoboCup’s stamina, character, dynamic starting point, dynamic endpoint and other factors into consideration in the path planning process, the RoboCup path planning is generalized as a multi-objective optimization problem in the paper, and proposes RoboCup’s sport model with dynamic multi-objective path planning which is based on RoboCup’s stamina triple model, and a path planning algorithm that is suited for RoboCup is advanced based on PFNPGA ( Penalty Function Niche Pareto Genetic Algorithm）. The experiment in a real environment shows that, by comparing with traditional path planning methods, the algorithm in the paper can get more reasonable path at the premise of guarantee RoboCup have relative high stamina values.
X. Y. Cheng et al., "The Research on Path Planning Algorithm of RoboCup Based on PFNPGA", Applied Mechanics and Materials, Vols. 20-23, pp. 1192-1198, 2010