Trajectory planning for RoboCup MSL mobile robots based on Bézier curve and Voronoi diagram

In RoboCup middle size league (MSL), the basic purpose for the soccer robots is to realize obstacle avoidance and shooting without stop by utilizing trajectory planning to provide a smooth trajectory. Consider the highly competitive and highly dynamic match environment, in fact, the trajectory planning is very challenge. The implementation for mobile robots generating trajectory is complex in a highly competitive and dynamic environment. In this paper, we propose a new method based on the Dijkstra shortest path algorithm, Bézier curve and Voronoi diagram to create geometric paths. Since the acceleration and velocity limitation should be taken into account, we then transform the geometric paths into a smooth trajectory with specified acceleration and velocity. Finally, simulation results are provided to illustrate the efficiency of the method.