Optimal path design in robot soccer environment

Path planning technique is proposed in the paper. It was developed for robots with differential drive, but with minor modification could be used for all types of nonholonomic robots. The path was planned in the way to minimize the time of reaching end point in desired direction and with desired velocity, starting from the initial state described by the start point, initial direction and initial velocity. The limitation was the grip of the tires that results in the acceleration limits. The path is presented as the spline curve and was optimised by placing the control points trough which the curve should take place.