Path planning method for soccer robots with evaluation of superiority degree

An approach of soccer-robots' path planning based on evaluation of superiority degree is presented in this paper. In the beginning we utilize the idea of recursion to search for all possible paths. Then a binary tree is constructed and tracked after the obtainment of these possible paths. Finally the evaluations of superiority degree on the performance of path-length and path-security are integrated to figure out an optimal path. This algorithm is clear, fluent and can be easily realized. The experiments conducted on simulation show the validity of this approach both in stationary and non-stationary situation.