A Bézier curve-based approach for path planning in robot soccer

Abstract

This paper presents an efficient, Bézier curve-based path planning approach for robot soccer, which combines the function of path planning, obstacle avoidance, path smoothing and posture adjustment together. The locations of obstacles are considered as control points of B´ezier curve, then according to the velocity and orientation of end points, a smooth curvilinear path can be planned in real time. For the sake of rapid reaching, it is necessary to decrease the turning radius. Therefore a new construction of curve is proposed to optimize the shape of Bézier path.