Skip to main content
SpringerLink
Log in

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

  • Original Article
  • Published:
Artificial Life and Robotics Aims and scope Submit manuscript

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.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6

Similar content being viewed by others

References

  1. Sukvichai K, Ariyachartphadungkit T, Chaiso K (2012) Robot hardware, software, and technologies behind the SKUBA robot team, RoboCup 2011, Robot Soccer World Cup XV (Lecture Notes in Computer Science), vol 7416, pp 13–24

  2. Small size robot league—rules. http://robocupssl.cpe.ku.ac.th/rules:main. Accessed 10 Nov 2013

  3. LaValle SM (2006) Planning algorithms. Cambridge University Press

  4. Bruce J, Veloso M (2002) Real-time randomized path planning for robot navigation. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp 2383–2388

  5. Cheng J, Zhang Z, Wang Z (2012) Motion planning algorithm for tractor-trailer mobile robot in unknown environment. ICNC 2012:1050–1055

    Google Scholar 

  6. Ito K, Nakamura T, Nagai T (2010) Joint path planning of dual arms using configuration space RRT. RSJ2010 AC1M2-2 (in Japanese)

  7. Sakahara K, Masutani Y, Miyazaki F (2007) Real time motion planning in dynamic environment containing moving obstacles using spatiotemporal RRT. T SICE 43(4):277–284 (in japanese)

    Article  Google Scholar 

  8. Tokuse N, Sakahara H, Miyazaki F (2009) Motion planning which produces a give-way behavior using spatiotemporal RRT. JRSJ 27(6):696–701 (in japanese)

    Article  Google Scholar 

  9. Kennedy J, Eberhart R (1995) Particle swarm optimization. IEEE international conference on neural networks, pp 1942–1948

  10. Yokota H, Masuda K, Kurihara K (2011) A quantitative analysis of search behavior of particle swarm optimization in terms of parameter selection. In: 54th Joint Automatic Control Conference, pp 1172–1176 (in Japanese)

Download references

Author information

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
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Kazushi Nakano
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Tetsuro Funato
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Shu Hosokawa
    View author publications

    You can also search for this author in PubMed Google Scholar

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.

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

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

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

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

Keywords

Search

Navigation