Journal of the Korean Society of Manufacturing Technology Engineers (한국생산제조학회지)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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An Improvement of Navigation in Robot Soccer using Bezier Curve

베지어 곡선을 이용한 로봇 축구 항법의 개선

  • Jung, Tae-Young (Department of Mechanical System Design Engineering, Seoul National University of Science and Technology) ;
  • Lee, Gui-Hyung (Department of Mechanical System Design Engineering, Seoul National University of Science and Technology)
  • Received : 2015.09.21
  • Accepted : 2015.10.27
  • Published : 2015.12.15
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Abstract

This paper suggests a new method for making a navigation path by using Bezier curve in order to improve the navigation performance used to avoid obstacles during a robot soccer game. We analyzed the advantages and disadvantages of both vector-field and limit-cycle navigation methods, which are the mostly widely used navigation methods for avoiding obstacles. To improve the disadvantages of these methods, we propose a new design technique for generating a more proper path using Bezier curve and describe its advantages. Using computer simulations and experiments, we compare the performance of vector-field navigation with that of Bezier curve navigation. The results prove that the navigation performance using Bezier curve is relatively superior to the other method.

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References

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