In the paper, an algorithm for the multiple-obstacle avoidance of the soccer robot system is proposed. In this algorithm, an edge detector is utilized to determine the position of vertical edges of the obstacle, and then a bitwise logical operator is designed to distinguish between single and multiple obstacles in the nearby environment. The developed algorithm is applied to the control of a group omni-directional driven robots playing the soccer game. Simulation and experiment are performed with a real platform with a real platform to verify the proposed algorithm, and the results show that the performance of the algorithm for the multiple-obstacle avoidance is efficient.
Innovative Computing, Information and Control Express Letters 4(1), pp.161-166