A Bezier curve based path planning in a multi-agent robot soccer system without violating the acceleration limits

This paper proposes an efficient, Bezier curve based approach for the path planning of a mobile robot in a multi-agent robot soccer system. The boundary conditions required for defining the Bezier curve are compatible with the estimated initial state of the robot and the ball. The velocity of the robot along the path is varied continuously to its maximum allowable levels by keeping its acceleration within the safe limits. An obstacle avoidance scheme is incorporated for dealing with the stationary and moving obstacles. When the robot is approaching a moving obstacle in the field, it is decelerated and deviated to another Bezier path leading to the estimated target position. The radius of curvature of the path at its end points is determined from the known terminal velocity constraint of the robot.