2021 – TDP – ER-Force – RoboCupSoccer – Small Size

This paper presents proceedings of ER-Force, the RoboCup Small Size League team from Erlangen located at Friedrich-AlexanderUniversity Erlangen-Nürnberg, Germany. It presents our advances in trajectory based path planning. We extend existing methods to efficiently use target velocities and more complex robot models. This is done by improving on the standard method of generating bang-bang trajectories by using an alternative representation of the trajectory space. This advance allows for more flexible path planning algorithms.