关键词: 足球机器人, WTA竞争模型, 人工势场（APF）, 路径规划, 避障

Abstract:

In the movement process of soccer robot, the soccer robot is in a complex real-time confrontation environment, which requires the robot to have a high ability to deal with the real-time movement process and to make reasonable countermeasures for each critical moment, such as multi-robot ball grabbing process, single-robot ball control process, etc.. Many strategy studies only focus on the path planning of the ball control process of a single robot but fail to consider the process of multi-robot competition, resulting in the absence of some key steps in the whole movement process of soccer robot, loss of integrity, and neglect of real-time antagonism. A new strategy is proposed to solve the appeal problem：The first step is to use the WTA（Winner Take All） competition model to effectively solve the multi-robot competition problem; the second will adopt an improved APF（Artificial Potential Field） path planning method to avoid obstacles. Thus, the disadvantages of traditional APF algorithm are solved and the efficiency is improved. Through the simulation experiment, this paper verifies the correctness, scientific rigor and practicability of the theory. It lays a foundation for the practice in other scientific fields.

Key words: soccer robot, Winner Take All（WTA） competition model, Artificial Potential Field（APF）, path planning, obstacle avoidance