June 2004: Studien theses at Prof. Rojas
Fast Geometric Path Planning for the Small Size RoboCup League
Fast Geometric Path Planning for the Small Size RoboCup League
Abstract
Presented is an algorithm for planning the motion of a robot moving on a rectangular field with obstacles. The positions of every obstacle and the robot are known. Searched is the first intermediate point on a path leading to a given endpoint. The algorithm takes a geometric approach where every point of the path is the corner of a polygonal obstacle or a tangent on a circular obstacle. The algorithm was implemented in the case of the FU-Fighter's soccer-robots.
Downloads
Literature on geometric path planning
Danny Z. Chen: Developing Algorithms and Software for
Geometric Path Planning Problems
"Computing shortest paths is a fundamental topic in computational geometry and arises in many applications. We assess the status of the current research on solving geometric shortest path problems and suggest several possible directions for future work on these and related problems."