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http://dx.doi.org/10.7735/ksmte.2015.24.6.696

An Improvement of Navigation in Robot Soccer using Bezier Curve  

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)
Publication Information
Journal of the Korean Society of Manufacturing Technology Engineers / v.24, no.6, 2015 , pp. 696-702 More about this Journal
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.
Keywords
Bezier curve; Robot soccer; Obstacle; Avoid;
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