GA based on-line path planning of mobile robots playing soccer games

This paper presents an intelligent navigation architecture for micro-robots playing soccer games. In the proposed navigation system, the central path planner uses a genetic searching algorithm to generate and modify consecutive via-points which micro-robot soccer players must follow to avoid moving obstacles and reach the goal position. The low-level on-line navigation algorithm is also available for each micro-robot, which accomplishes dynamic local path planning and tracking of each path between via-points generated from the central path planner. To facilitate the path planning procedure, the position and orientation of each mobile robot as well as the ball and goal post are detected using a color vision system in which the dotted scanline method is developed and applied to the rows and columns of digitized image plane. The proposed navigation architecture has been applied to a soccer playing multiple micro robot system.