in this paper we introduce an improvement in the path planning algorithm for the humanoid soccer playing robot which uses ferguson splines and pso (particle swarm optimization). the objective of the algorithm is to find a path through other playing robots to the ball, which should be as short as possible and also safe enough. ferguson splines create preliminary paths using random generated para...

finding an optimal path for a robot in a soccer field involves different parameters such as the positions of the robot, positions of the obstacles, etc. due to simplicity and smoothness of ferguson spline, it has been employed for path planning between arbitrary points on the field in many research teams. in order to optimize the parameters of ferguson spline some evolutionary or intelligent al...

In this paper we introduce an improvement in the path planning algorithm for the humanoid soccer playing robot which uses Ferguson splines and PSO (Particle Swarm Optimization). The objective of the algorithm is to find a path through other playing robots to the ball, which should be as short as possible and also safe enough. Ferguson splines create preliminary paths using random generated para...

Finding an optimal path for a robot in a soccer field involves different parameters such as the positions of the robot, positions of the obstacles, etc. Due to simplicity and smoothness of Ferguson Spline, it has been employed for path planning between arbitrary points on the field in many research teams. In order to optimize the parameters of Ferguson Spline some evolutionary or intelligent al...

There are thousands of articles published on variants of splines, including least squares cubic splines. One of the first least squares articles was de Boor and Rice [1], and a comprehensive explanatory textbook is Dierckx [2]. Unfortunately, every example in the literature and on the web of a least squares cubic spline makes use of B-splines. While B-splines have a certain elegance, they are s...

Recently, we found that the CB-splines that use basis {sin t, cos t, t,1} and the HB-splines that use basis {sinh t, cosh t, t,1} could be unified into a complete curve family, named FB-splines (Zhang and Krause, 2005). FB-splines are a scheme of what we call here F-curves. This paper explains that in the domain of complex numbers, the extended C-curves and extended H-curves are the same curves...