Path planning for mobile robot soccer using genetic algorithm

摘要

Mobile Robot Soccer in Smal Size is one of division in Robocup Competition which is an international organization in robot soccer field. This organization aims to build a soccer robot team and will be contested with the winner of world cup in 2050. In small size league research, this division is focused on multi robot planning, this division also hopes that they can create an artificial intelligence which can control position of robots at the same time. In this matter, robot moving plan is a fundamental core that must have a robot based on that problem. This paper wants to take the topic about path planning to make the best track using genetic algorithm. Genetic algorithm is chosen because an adaptive system which is able to change structure to solve problem based on internal and external information that stream through these networking. The first step in this algorithm is to analyze all objects in field, robot, ball, goal, and obstacle (opposite team). After knowing all objects in this field, the system will generate via a preferred point from robot to target like a ball, and then the genetic algorithm will optimize the path.