Path planning of smallsize soccer robot based on particle swarm optimization

GONG Jinchao, LI Xiaoming
(Faculty of Mechanical Engineering & Automation, Zhejiang SciTech University, Hangzhou 310018, China)

Abstract: In order to solve the problems that soccer robot could not avoid dynamic obstacles and easily get into local optimal value in the path planning, an algorithm which combined grid theory with particle swarm optimization (PSO) was proposed on the base of deep research about the PSO. Firstly, the working space model of the smallsize soccer robot was established by using the grid theory. Then, the optimal path was found out by improving the PSO. The method has simple realization, a rapid convergence; it can avoid getting into local optimization; it can meet the realtime and dynamic requirements of path planning; it can be applied to different environments. The simulation result shows that the algorithm can be applied well in path planning of soccer robot.
Key words: smallsize soccer robot; path planning; grid model; particle swarm optimization(PSO)