Fast path planning algorithm for the RoboCup small size league

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 sh...

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Autores Principales: Rodríguez, Saith, Rojas, Eyberth, Pérez, Katherín, López, Jorge, Quintero, Carlos, Calderón, Juan
Formato: Desconocido (Unknown)
Publicado: 2020
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Acceso en línea:http://hdl.handle.net/11634/20592
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spelling ir-11634-205922020-04-13T10:02:45Z Fast path planning algorithm for the RoboCup small size league Rodríguez, Saith Rojas, Eyberth Pérez, Katherín López, Jorge Quintero, Carlos Calderón, Juan Path planning Mobile robots Real-time systems RoboCup 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. http://unidadinvestigacion.usta.edu.co 2020-01-16T21:04:06Z 2020-01-16T21:04:06Z 2015-01 Generación de Nuevo Conocimiento: Artículos publicados en revistas especializadas - Electrónicos http://hdl.handle.net/11634/20592 https://doi.org/10.1007/978-3-319-18615-3 33 Kitano, 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) RoboCup Information. http://www.robocup2013.org/about-robocup/ Small Size Legue Information. http://robocupssl.cpe.ku.ac.th/rules:main Ould-Khessal, N.: Botnia: a team of soccer plating robots. In: 2nd International Conference on Autonomous Robots and Agents, pp. 429–433. Palmerston North (2004) LaValle, S.M.: Rapidly-exploring random trees: a new tool for path planning. Technical report No. 98–11 (1998) Tsubouchi, 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) Han, 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) Kuffner, 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) Bruce, 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) Desaraju, 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) Xiao, J., Michalewicz, Z., Zhang, L., Trojanowski, K.: Adaptive evolutionary planner/navigator for mobile robots. IEEE Transact. Evol. Comput. 1, 18–28 (1997) Log of Quaterfinal4 Small Size League RoboCup 2013. http://er-force.de/ gamelogs/robocup2013/2013-06-29-165351 stoxs cmdragons.log.gz STOx’s Team webpage. http://www.stoxs.org/index.php/en/projects/robocup-ssl2/86-english-categories/stox-s-english/168-fast-path-planning-algorithm-en Atribución-NoComercial-CompartirIgual 2.5 Colombia http://creativecommons.org/licenses/by-nc-sa/2.5/co/ application/pdf application/pdf CRAI-USTA Bogotá
institution Universidad Santo Tomas
collection DSpace
topic Path planning
Mobile robots
Real-time systems
RoboCup
spellingShingle Path planning
Mobile robots
Real-time systems
RoboCup
Rodríguez, Saith
Rojas, Eyberth
Pérez, Katherín
López, Jorge
Quintero, Carlos
Calderón, Juan
Fast path planning algorithm for the RoboCup small size league
description 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.
format Desconocido (Unknown)
author Rodríguez, Saith
Rojas, Eyberth
Pérez, Katherín
López, Jorge
Quintero, Carlos
Calderón, Juan
author_facet Rodríguez, Saith
Rojas, Eyberth
Pérez, Katherín
López, Jorge
Quintero, Carlos
Calderón, Juan
author_sort Rodríguez, Saith
title Fast path planning algorithm for the RoboCup small size league
title_short Fast path planning algorithm for the RoboCup small size league
title_full Fast path planning algorithm for the RoboCup small size league
title_fullStr Fast path planning algorithm for the RoboCup small size league
title_full_unstemmed Fast path planning algorithm for the RoboCup small size league
title_sort fast path planning algorithm for the robocup small size league
publishDate 2020
url http://hdl.handle.net/11634/20592
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score 12,131701