Fast Path Planning Algorithm for the RoboCup Small Size League

Plenty of work based on the Rapidly-exploring Random Trees (RRT) algorithm for path planning in real time has been developed recently. This is the most used algorithm by the top research teams in the Small Size League of RoboCup. Nevertheless, we have concluded that other simpler alternatives show better results under these highly dynamic environments. In this work, we propose a new path planning algorithm that meets all the robotic soccer challenges requirements, which has already been implemented in the STOx's team for the RoboCup competition in 2013. We have evaluated the algorithm's performance using metrics such as the smoothness of the paths, the traveled distance and the processing time and compared it with the RRT algorithm's. The results showed improved performance over RRT when combined measures are used.