An Efficient Path Planning Method Based on State Automata Model for Mobile Robots

In the item of autonomous mobile robots of Robocup game, the tasks of attack and defense are results of some series state or action transition, including division of roles, finding the ball, keeping the ball, etc. Therefore, the key is how to control and describe the state or action of mobile robots in the competition effectively. Finite Automata model is adopted when designing the decision-making system for mobile robots. In the first place, the robot and environmental information all around are all abstracted into some special symbols and states. Meanwhile, the transition functions of the robots state are set using the perception system of vision and transformed to the inputting symbols of Finite Automata. Finite Automata enters into the next state or remains its original state, according to the preset state transition functions. In the end, it will transmit the order to kinematic mechanism. The experiment proved that the method was able to link and smooth all kinds of action or state of mobile robots efficiently; kinematic mechanism of mobile robots was provided with higher real-time and accuracy.