Potential Field Approach to Short Term Action Planning in RoboCup F180 League

Abstract

We propose a potential field approach to represent a game situation. In a potential field, a ball should be moved according to the gradient of the potential field. There are three kinds of potential fields. One is defined for a game field, and another is defined for each robot. The third field is defined as the combination of these two. The combined field is used for evaluation of a situation. We applied this method to our robot control program. Potential values are used to determine the direction in which a robot kicks a ball. We compared the potential field based strategy and an usual “if then” type rule based strategy. The potential field based strategy makes better decisions in several cases and no worse decisions than the rule based strategy.

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