![best robocode strategy best robocode strategy](http://blog.recursiveprocess.com/wp-content/uploads/2010/06/robocode.jpg)
If this is not the case, it must replay the algorithm to search a new endpoint of the free segments.
![best robocode strategy best robocode strategy](https://cdn.shopify.com/s/files/1/0568/4448/4795/files/BuyAndSell2-PNG@2x.png)
Hence, if the distance of the free segment selected is larger than the robot diameter, the endpoint is considered as a turning point.
![best robocode strategy best robocode strategy](https://slideplayer.com/slide/12897509/78/images/4/The+Competitors+-+Walls.jpg)
This approach is focused firstly on searching the endpoint of a free segment which gives the shortest path. In fact, the strategy presented in handles two fundamental objectives: the path length and the path safety. This strategy is inspired from the approach given by Jinpyo and Kyihwan. After that, a developed turning point searching algorithm is applied to determinate the endpoint of the safe free segment which gives the shortest path. That is why this work is based on selecting safe free segments in an environment encumbered by obstacles firstly.
BEST ROBOCODE STRATEGY HOW TO
The aim of the developed strategy is to solve the problem when the robot is located between two obstacles such as the following: how the robot can detect that the distance between the two obstacles is safe enough to reach the target without collision and how to avoid obstacles and move between two obstacles in the shortest path. The aim advantage of this control system is its insurance for stability, robustness, fast response, and good transient. Other works used sliding mode controller in various applications. Furthermore, a fuzzy logic controller is used in but this control law has a slow response time due to the heavy computation. In this sense, many tracking methods are proposed in the literature as Proportional Integral Derive (PID) controller but this controller becomes instable when it is affected by the sensor sensitivity. Because of this uncertainty, the trajectory error for a wheeled mobile robot has always been produced and can not be eliminated. The nonholonomic system suffers of nonlinearity and uncertainty problem. In the other side, several research works for tracking control of a wheeled mobile robot have gained attention in the literature. Another method used in is named turning point searching algorithm which consists of finding a point around which the mobile robot turns without hitting obstacles. This approach is a velocity-based local planner that calculates the optimal collision-free velocity for a mobile robot.
BEST ROBOCODE STRATEGY WINDOWS
The strategy of dynamic windows has been used in. These methods give the heading angle for avoiding obstacles. Among these strategies, the geometry space method such as Artificial Potential Field, Agoraphobic Algorithm, and Vector Field Histogram. Until now, many methods have been used for path planning of mobile robots. In this sense, several research works tackling the path planning problem have been proposed in the literature. The aim of the robot path planning is to search a safe path for the mobile robot. Therefore, the path planning problem is one of the most interesting and researched topics. However, designing an efficient navigation strategy for mobile robots and ensuring their securities are the most important issues in autonomous robotics. This is due to the replacement of humans by robots in basic and dangerous activities.
![best robocode strategy best robocode strategy](https://miro.medium.com/max/1248/1*JsfZaNzmyKnXXrNV6s5OBg.png)
Nowadays, robots are considered as an important element in society. Finally, simulation results show that the developed approach is a good alternative to obtain the adequate path and demonstrate the efficiency of the proposed control law for robust tracking of the mobile robot. In addition, a robust control law which is called sliding mode control is proposed to control the stabilization of an autonomous mobile robot to track a desired trajectory. This proposed algorithm handles two different objectives which are the path safety and the path length. The aim of the turning point approach is to search a safe path for the mobile robot, to make the robot moving from a starting position to a destination position without hitting obstacles. In this work, a developed algorithm based on free segments and a turning point strategy for solving the problem of robot path planning in a static environment is presented. That is why finding a safe path in a cluttered environment for a mobile robot is an important requirement for the success of any such mobile robot project. Currently, the path planning problem is one of the most researched topics in autonomous robotics.