A Real-Time Collision-Avoidance Motion Planner for Robot Soccer

This work presents the implementation and evaluation of a real-time collision-avoiding motion planning algorithm for highly dynamic environments. By combining short-horizon obstacle estimation with the robot constraints, our method implements collision-avoiding situational-aware motion planning by heuristically exploring multiple relevant paths. Directly feeding the current motion setpoint of the path into the low-level controller closes the loop between motion planning and low-level control, ensuring constraint-aware execution. Its practical implementation in physical robots in dynamic RoboCup-like scenarios validated its effectiveness, with low computational costs enabling fast adaptation to changing environments. Furthermore, the capabilities of our motion planner were demonstrated during RoboCup 2024 and practice matches<sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">1</sup>.