Representation of Soccer Robotics in The Fastest Trajectory Tracking

摘要

Estimating the robot’s movement toward the target will be more optimal if it considers the shortest path and still considers the obstacles to that target. Soccer robot games have a dynamic object movement activity, so soccer robots must always compare the difference in distance and obstructed paths. Dijkstra’s algorithm, an optimization algorithm for determining the shortest path of a track, can be applied in a dynamic environment by considering the distance and weight of the track so that the robot can choose a more effective path. The application of this method to the soccer robot game is more effective than the obstacle avoidance method without regard to several environmental factors. This method can prevent the robot from being trapped in an impassable path so that the robot can optimize travel time to the target point. The test results show that the distance to the target of 0.85 m in the presence of several obstacles can be reached in the path of 0.87 m, with a speed of 0.08 m/s and within 12 s.