DA SILVA COSTA, L.Flavio Tonidandel2022-01-122022-01-122019-10-23DA 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.https://repositorio.fei.edu.br/handle/FEI/3703© 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.Acesso RestritoArtigo de evento10.1109/LARS-SBR-WRE48964.2019.00009A StarDynamic Visibility GraphPath PlanningRapidly Exploring Random TreesRoboFEIRobot planningRobot SoccerSmall Size League