Optimal obstacle avoidance path planning in robot soccer

This paper focused on obstacle avoidance path planning in two-dimension competition field based on MiroSot real-time soccer system. It specified model abstraction with visibility graph method and based on principle of optimality, this paper transformed path planning into an issue of multistage decision-making using dynamic-planning. For subproblems at each stage, this paper solved them taking advantage of optimized path searching algorithm and evaluated the results to get an optimal path according to some evaluation indexes. In this paper, obstacle avoidance algorithm was designed, implemented and simulated. And finally simulation results prove the feasibility and effectiveness of the algorithm in MiroSot real-time soccer system.