Smooth Motion Planning of an Omnidirectional Mobile Robot in Dynamic Environments

Implementation of Rapidly-Exploring Random Tree (RRT) for Path Planning and Stanley Control Method for Path Tracking on Wheeled Soccer Robots

“…To address this challenge, researchers and teams participating in RoboCup have developed various motion planning algorithms that allow robots to navigate the field and interact with teammates and opponents in real-time. These algorithms take into account various factors such as the current position of the robot, the position of the ball, the position of other robots, and the rules of the game, to determine the best action for the robot to take [9][10]. Path planning is the process of determining the optimal path that a robot should follow to reach a specific destination while avoiding obstacles and meeting other constraints.…”