Collision-avoidance planning of soccer robot in RoboCup3D simulation environment

Robots in complex dynamic environment with moving often collide with each other, this paper studies the dynamic avoiding collision with moving obstacles problem for the biped robot in RoboCup3D simulation environment. According to the defect of the shortest tangent algorithm for avoiding obstacles, we put forward the improved smooth ND (Nearness Diagram) dynamic algorithm for avoiding obstacles. The algorithm considers the speed with dynamic change and the activity range with dynamic expansion of obstacles, imagining each obstacle as an activate disc, planning out a collision avoidance path in the activate disc border, and according to the constant change of opponent obstacles for timely tracking. Based on compared simulation experiment in RoboViz that is the RoboCup3D debug tool in this paper verifies that this method is effective and advantageous.