Comparison and analysis of the DVG+A∗ and rapidly-exploring random trees path-planners for the robocup-small size league

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dc.contributor.authorDA SILVA COSTA, L.
dc.contributor.authorFlavio Tonidandel
dc.contributor.authorOrcidhttps://orcid.org/0000-0003-0345-668X
dc.date.accessioned2022-01-12T21:56:07Z
dc.date.available2022-01-12T21:56:07Z
dc.date.issued2019-10-23
dc.description.abstract© 2019 IEEE.This paper provides an experimental analysis between Dynamic Visibility Graph A Star (DVG+A*) and Rapidly-exploring Random Trees (RRT) path-planners, in order to compare which one is more adequate to the scenario presented in the Small Size League (SSL). The metrics used to compare each algorithm were established based on the characteristics of a SSL game, which demand a short path, low computational cost and a safe distance from the opponent robots. For the comparison, both algorithms were tested in static and dynamic environments. After all the tests, DVG+A∗ has shown the best results.
dc.description.firstpage1
dc.description.lastpage6
dc.identifier.citationDA SILVA COSTA, L.; TONIDANDEL, F. Comparison and analysis of the DVG+A∗ and rapidly-exploring random trees path-planners for the robocup-small size league. Proceedings - 2019 Latin American Robotics Symposium, 2019 Brazilian Symposium on Robotics and 2019 Workshop on Robotics in Education, LARS/SBR/WRE 2019, Oct. 2019.
dc.identifier.doi10.1109/LARS-SBR-WRE48964.2019.00009
dc.identifier.urihttps://repositorio.fei.edu.br/handle/FEI/3703
dc.relation.ispartofProceedings - 2019 Latin American Robotics Symposium, 2019 Brazilian Symposium on Robotics and 2019 Workshop on Robotics in Education, LARS/SBR/WRE 2019
dc.rightsAcesso Restrito
dc.subject.otherlanguageA Star
dc.subject.otherlanguageDynamic Visibility Graph
dc.subject.otherlanguagePath Planning
dc.subject.otherlanguageRapidly Exploring Random Trees
dc.subject.otherlanguageRoboFEI
dc.subject.otherlanguageRobot planning
dc.subject.otherlanguageRobot Soccer
dc.subject.otherlanguageSmall Size League
dc.titleComparison and analysis of the DVG+A∗ and rapidly-exploring random trees path-planners for the robocup-small size league
dc.typeArtigo de evento
fei.scopus.citations2
fei.scopus.eid2-s2.0-85082166841
fei.scopus.subjectDynamic visibility graphs
fei.scopus.subjectRapidly-exploring random trees
fei.scopus.subjectRoboFEI
fei.scopus.subjectRobot planning
fei.scopus.subjectRobot soccer
fei.scopus.subjectSmall-size leagues
fei.scopus.updated2024-11-01
fei.scopus.urlhttps://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85082166841&origin=inward
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