A path planning method for microrobot soccer game

This paper describes the design and development of a path planning method for Micro Robot Soccer Tournament (MIROSOT). Every object in the stadium is given a working layer which is decomposed into a fixed number of small areas. We propose to assign values to different small areas of the layer according to the object's movement. The final path is obtained by combining the small areas of the layers and getting the path with the smallest values. Since the host computer uses only a simple equation to calculate the value of each small area, this algorithm requires only a low computing power, and the speed of path generation is very fast. A simulation program was developed to test the algorithm's performance.