Path planning approach to soccer robot based on time optimization

Abstract

In order to improve the speed of robot’s movement, the path is described with a smooth Bezier curve instead of traditional broken lines, then the control points of Bezier curve presenting the path is optimized by genetic algorithm. The fitness function of the genetic algorithm takes full consideration of the factors of security, length and smoothness of the path which affect the time of robot’s movement. Results of the experiments show the efficiency of the method.