In many fields of application, shortest path finding problems in very large graphs arise. Scenarios where large numbers of on-line queries for shortest paths have to be processed in real-time appear for example in traffic information systems. In such systems, the techniques considered to speed up the shortest path computation are usually based on precomputed information. One approach proposed o...

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...