Artificial Bee Colony optimization of ferguson splines for soccer robot path planning

Soccer robots are strictly dependent on the path they traverse on the game field and therefore, path planning is very important for them. In this paper, we propose a solution to the problem of path planning using Artificial Bee Colony (ABC) algorithm and cubic Ferguson Splines. Firstly, a path for robot movement is described by Ferguson splines and then ABC algorithm is used to optimize the parameter of splines to find an optimal path between the starting and the goal points considering obstacles between them. The experimental results show the performance and excellence of the proposed solution in comparison with other intelligent algorithm.