Extending the electric field approach

Potential fields is popular technique in autonomous robotics. The Electric Field Approach is such a technique used for high level robot control. The approach was developed by Team Sweden for use in RoboCup 2000, a soccer competition for mobile robots. This thesis describes several improvements that has been made while preparing for RoboCup 2001. The improvements are used to create simple behaviors which achieve a form of implicit cooperation and also more active defence…


1 Introduction
1.1 Terms and abbreviations
1.2 Description
1.3 RoboCup
1.4 Team Sweden
1.5 Sony Legged Robot League
1.6 Problem description
1.7 Research method
1.8 Outline of the thesis
2 Related work
2.1 Other RoboCup Teams
2.2 Planning
2.3 Potential Fields
3 Electric Field Approach
3.1 Overview of the Electric Field Approach
3.2 Team Sweden implementation
3.3 Traditional or reactive?
4 Extending the RP
4.1 Maintaining the RP
4.2 Ideas
4.3 Implementation
5 Discussion
5.1 New implementation
5.2 Problems
6 Conclusion
6.1 Future Work
A Problematic situations
A.1 Seeing the ball
A.2 Two defenders rule
A.3 Edge play

Author: Jan Kronquist

Source: Blekinge Institute of Technology

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