Fast path planning algorithm for the RoboCup small size league
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Abstract
Plenty of work based on the Rapidly-exploring Random Trees
(RRT) algorithm for path planning in real time has been developed
recently. This is the most used algorithm by the top research teams in
the Small Size League of RoboCup. Nevertheless, we have concluded that
other simpler alternatives show better results under these highly dynamic
environments. In this work, we propose a new path planning algorithm
that meets all the robotic soccer challenges requirements, which has
already been implemented in the STOx’s team for the RoboCup competition in 2013. We have evaluated the algorithm’s performance using
metrics such as the smoothness of the paths, the traveled distance and
the processing time and compared it with the RRT algorithm’s. The
results showed improved performance over RRT when combined measures are used.
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Atribución-NoComercial-CompartirIgual 2.5 Colombia