The path planning for robot soccer under antagonistic environment

The RoboCup middle size robot soccer game is full of intense competition where accurate collision-free path planning is one of the most important challenges. However, the path planning method using traditional or common evolutionary artificial potential field does not suit for such environment. This paper proposed a new evolutionary potential field method based on relative threat coefficient, which synthesizes the effect of the relative location and velocity among the robot, the obstacle and the goal. Computer simulation and physical application were used to demonstrate the effectiveness of the path planning scheme based on the new potential field method.