Path planning for small size robots

• Grant number: 20/04561-0
• Support Opportunities: Scholarships in Brazil - Master
• Effective date (Start): September 01, 2020
• Effective date (End): April 30, 2021
• Field of knowledge: Physical Sciences and Mathematics - Computer Science
• Principal Investigator: Takashi Yoneyama
• Grantee: Felipe Celso Reis Pinheiro
• Host Institution: Divisão de Engenharia Eletrônica (IEE). Instituto Tecnológico de Aeronáutica (ITA). Ministério da Defesa (Brasil). São José dos Campos , SP, Brazil

Abstract

This study addresses to study different path planning methods applied to Robocup F-180 robots. For this type of robot, an important problem is the path planning, i.e., to define paths so that the robot can move on the soccer field avoiding collisions with other obstacles. The literature for this problem provides many algorithms that can be used for this purpose. We intend to study these algorithms and create figures of merit to compare the performance of each one considering the existing trade-off between computational cost and optimality. Besides, we can apply different methods of trajectory tracking control methods, combining them with the path planning method chosen and compare results. (AU)