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StRRT-based path planning with PSO-tuned parameters for RoboCup soccer

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Abstract

Path planning in various situations is an essential ability for a useful mobile robot in the real world, and technologies facilitating this have been tested in the RoboCup soccer leagues. The main difficulty in path planning lies in the presence of (mobile) obstacles and the kinematic and computational constraints of robots. Rapidly exploring random trees (RRTs) and spatio-temporal RRTs (StRRTs) are popular algorithms for mobile robots in the small size league, one of the RoboCup’s soccer leagues. In these algorithms, paths of finite length are randomly generated in each time interval, and adequate paths among these are selected. Thus, path length and selection probability are important factors. In this paper, we propose a method to determine these parameters using particle swarm optimization. The proposed method is examined using simulations and its real-time tuning ability is verified. The automatically tuned controllers are also capable of real-time path planning through a mobile robot with limited computational ability, such as those used in RoboCup.

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Authors and Affiliations

  1. Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications, Tokyo, Japan

    Katsumichi Sameshima, Kazushi Nakano & Tetsuro Funato

  2. Control System Security Center, Tokyo, Japan

    Shu Hosokawa

Authors
  1. Katsumichi Sameshima
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  2. Kazushi Nakano
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  3. Tetsuro Funato
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  4. Shu Hosokawa
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Corresponding author

Correspondence to Tetsuro Funato.

Additional information

This work was presented in part at the 19th International Symposium on Artificial Life and Robotics, Beppu, Oita, January 22–24, 2014.

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Sameshima, K., Nakano, K., Funato, T. et al. StRRT-based path planning with PSO-tuned parameters for RoboCup soccer. Artif Life Robotics 19, 388–393 (2014). https://doi.org/10.1007/s10015-014-0177-6

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  • DOI: https://doi.org/10.1007/s10015-014-0177-6

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