Path Planning Based on Visibility Graph with Circular Obstacles for RoboCup Small Size League

• Marcos R. O. A. Maximo ITA
• Artur D. Ferreira da Silva ITA
• Lucas G. Neves ITA
• Celso M. Hirata ITA

Resumo

The RoboCup Small Size League (SSL) demands fast and efficient path planning due to its dynamic and competitive environment. While sampling-based techniques have been widely adopted, they often suffer from inconsistencies between replans. In this work, we propose using a path planning approach based on a visibility graph with circular obstacles in SSL. To ensure real-time performance, we implement a lazy graph construction strategy and extensively optimize the code to reduce computational overhead. The shortest path is computed using the A* algorithm. Experimental results demonstrate that our method provides smooth, high-performance trajectories suitable for SSL gameplay.

Palavras-chave: Measurement, Tracking, Motion segmentation, Dynamics, Real-time systems, Trajectory, Planning, Collision avoidance, Robots, Optimization, RoboCup Small Size League, Path Planning, Visibility Graph, Circular Objects