Fast path planning algorithm for the RoboCup small size league

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dc.contributor.authorRodríguez, Saith
dc.contributor.authorRojas, Eyberth
dc.contributor.authorPérez, Katherín
dc.contributor.authorLópez, Jorge
dc.contributor.authorQuintero, Carlos
dc.contributor.authorCalderón, Juan
dc.date.accessioned2020-01-16T21:04:06Z
dc.date.available2020-01-16T21:04:06Z
dc.date.issued2015-01
dc.description.abstractPlenty 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.spa
dc.description.domainhttp://unidadinvestigacion.usta.edu.cospa
dc.format.mimetypeapplication/pdf
dc.identifier.doihttps://doi.org/10.1007/978-3-319-18615-3 33spa
dc.identifier.urihttp://hdl.handle.net/11634/20592
dc.publisher.branchCRAI-USTA Bogotáspa
dc.relation.referencesKitano, H., Asada, M., Kuniyoshi, Y., Noda, I., Osawa, E.: RoboCup: the robot world cup initiative. In: Proceedings of IJCAI-95 Workshop on Entertainment and AI/Alife, pp. 340–347. IEEE Press, Montreal (1995)spa
dc.relation.referencesRoboCup Information. http://www.robocup2013.org/about-robocup/spa
dc.relation.referencesSmall Size Legue Information. http://robocupssl.cpe.ku.ac.th/rules:mainspa
dc.relation.referencesOuld-Khessal, N.: Botnia: a team of soccer plating robots. In: 2nd International Conference on Autonomous Robots and Agents, pp. 429–433. Palmerston North (2004)spa
dc.relation.referencesLaValle, S.M.: Rapidly-exploring random trees: a new tool for path planning. Technical report No. 98–11 (1998)spa
dc.relation.referencesTsubouchi, T., Arimoto, S.: Behaviour of a mobile robot navigated by an iterated forecast and planning scheme in the presence of multiple moving obstacles. In: 1994 IEEE International Conference on Robotics and Automation, pp. 2470–2475. IEEE Press, San Diego (1994)spa
dc.relation.referencesHan, K., Veloso, M.: Reactive visual control of multiple non-holonomic robotic agents. In: 1998 IEEE International Conference on Robotics and Automation, pp. 3510–3515. IEEE Press, Leuven (1998)spa
dc.relation.referencesKuffner, J.J., LaValle, S.M.: Rapidly-exploring random trees: progress and prospects. In: Donald, B.R., Lynch, K.M., Rus, D. (eds.) Algorithmic and Computational Robotics: New Directions, pp. 293–308. AK Peters, Massachusetts (2001)spa
dc.relation.referencesBruce, J., Veloso, M.M.: Real-time randomized motion planning for multiple domains. In: Lakemeyer, G., Sklar, E., Sorrenti, D.G., Takahashi, T. (eds.) RoboCup 2006: Robot Soccer World Cup X. LNCS (LNAI), vol. 4434, pp. 532–539. Springer, Heidelberg (2007)spa
dc.relation.referencesDesaraju, V.R., How, J.P.: Decentralized path planning for multi-agent teams in complex environments using rapidly-exploring random trees. In: 2011 IEEE International Conference on Robotics and Automation, pp. 4956–4961. IEEE Press, Shanghai (2011)spa
dc.relation.referencesXiao, J., Michalewicz, Z., Zhang, L., Trojanowski, K.: Adaptive evolutionary planner/navigator for mobile robots. IEEE Transact. Evol. Comput. 1, 18–28 (1997)spa
dc.relation.referencesLog of Quaterfinal4 Small Size League RoboCup 2013. http://er-force.de/ gamelogs/robocup2013/2013-06-29-165351 stoxs cmdragons.log.gzspa
dc.relation.referencesSTOx’s Team webpage. http://www.stoxs.org/index.php/en/projects/robocup-ssl2/86-english-categories/stox-s-english/168-fast-path-planning-algorithm-enspa
dc.rightsAtribución-NoComercial-CompartirIgual 2.5 Colombia
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/2.5/co/
dc.subject.keywordPath planningspa
dc.subject.keywordMobile robotsspa
dc.subject.keywordReal-time systemsspa
dc.subject.keywordRoboCupspa
dc.titleFast path planning algorithm for the RoboCup small size leaguespa
dc.type.categoryGeneración de Nuevo Conocimiento: Artículos publicados en revistas especializadas - Electrónicosspa

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