Dynamic path planning in RoboCup rescue simulation competition

Abstract

Path planning method is one of important problems in RoboCup (Robot World Cup, RoboCup) Rescue Simulation Platform. An improved ant colony algorithm was employed in this paper to handle the problem in complex environments. We applied the Target Vantage Value (TVV) technology to work out the drawback of trapping in local minimum. Subsequently, the calculation of state transition probability was also improved in the dynamic and unknown road conditions. Experimental results demonstrate the better efficiency and reliability of our method.