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RoboCup Middle Size League (RoboCup MSL) provides a standardized testbed forresearch on mobile robot navigation, multi-robot cooperation, communication andintegration via robot soccer competition in which the environment is highlydynamic and adversarial. One of important research topic in such area iskinodynamic motion planning that plan the trajectory of the robot whileavoiding obstacles and obeying its dynamics. Kinodynamic motion planning foromnidirectional robot based on kinodynamic-RRT* method is presented in thiswork. Trajectory tracking control to execute the planned trajectory is alsoconsidered in this work. Robot motion planning in translational and rotationaldirection are decoupled. Then we implemented kinodynamic-RRT* with doubleintegrator model to plan the translational trajectory. The rotationaltrajectory is generated using minimum-time trajectory generator satisfyingvelocity and acceleration constraints. The planned trajectory is then trackedusing PI-Control. To address changing environment, we developed concurrentsofware module for motion planning and trajectory tracking. The resultingsystem were applied and tested using RoboCup simulation system based on RobotOperating System (ROS). The simulation results that the motion planning systemare able to generate collision-free trajectory and the trajectory trackingsystem are able to follow the generated trajectory. It is also shown that inhighly dynamic environment the online scheme are able to re-plan thetrajectory.

Real-Time Kinodynamic Motion Planning for Omnidirectional Mobile Robot  Soccer using Rapidly-Exploring Random Tree in Dynamic Environment with Moving  Obstacles