.
Development of a ROS 2 Based Path Planning A* for Opponent Avoidance in Wheeled Soccer Robot
Abstract
The Indonesian Wheeled Soccer Robot Contest requires autonomous robots to navigate safely in dynamic environments where opponent robots continuously change their positions. Conventional Single A-star path planning generates the navigation path only once before robot movement, making it unable to adapt to obstacle movement during navigation. This study proposes a ROS 2-based Dynamic A-star path planning system for opponent avoidance in wheeled soccer robots. The proposed system performs real-time path replanning whenever the detected obstacle position changes, enabling the robot to generate an alternative collision-free trajectory. The system was evaluated in the Gazebo simulation environment using eight navigation scenarios and compared with the conventional Single A-star approach. The same robot starting positions and goal locations were used in both approaches, while the Dynamic A-star method extended the baseline configuration from one obstacle to two obstacles, including one moving obstacle. Experimental results showed that the proposed Dynamic A-star method achieved a 100% navigation success rate with a 0% collision rate, whereas the conventional Single A-star algorithm achieved a 0% navigation success rate with a 100% collision rate after obstacle movement. The average travel time increased from 19.50 s for Single A-star to 29.95 s for Dynamic A-star, while the average path length increased from 4.08 m to 6.76 m due to additional detours and path replanning. These results demonstrate that Dynamic A-star improves navigation adaptability and collision avoidance in dynamic environments. In addition, the ROS 2 framework provided real-time communication among perception, path planning, and robot control modules, supporting adaptive autonomous navigation for wheeled soccer robots.
Keywords
Full Text:
PDFReferences
M. A. Y. Yaqin, Agus Khumaidi, Ryan Yudha Adhitya, Noorman Rinanto, Evi Nafiatus Sholikhah, and Riko Satrya Fajar Jaelani Putra, “Implementasi Path Planning A-star Untuk Menghindari Robot lawan Mengunakan Robot Operating System pada KRSBI-Beroda,” J. Elektron. dan Otomasi Ind., vol. 12, no. 1, 2025, doi: 10.33795/elkolind.v12i1.7268.
M. Yao, X. Feng, H. Deng, P. Li, H. Liu, and A. Wang, “Results in Engineering A dynamically hybrid path planning and obstacle avoidance algorithm for mobile robots based on improved A-star and dynamic windows approach,” Results Eng., vol. 29, no. December 2025, p. 108924, 2026, doi: 10.1016/j.rineng.2025.108924.
A. Alexander, K. Venkatesan, J. Mounsef, and K. Ramanujam, “A Comprehensive Survey of Path Planning Algorithms for Autonomous Systems and Mobile Robots : Traditional and Modern Approaches,” IEEE Access, vol. 13, no. October, pp. 176287–176326, 2025, doi: 10.1109/ACCESS.2025.3618837.
J. Wang, A* Path Planning Algorithm Optimization via Unscented Kalman Filter in Dynamic Environments, no. Iceegt 2025. Atlantis Press International BV, 2026. doi: 10.2991/978-94-6463-986-5.
L. I. Safitri, J. Sahertian, and D. W. Widodo, “Implementasi Algoritma Path Planning A-star Pada Base Station Robot Sepak Bola Beroda,” Gener. J., vol. 7, no. 3, pp. 56–63, 2023, doi: 10.29407/gj.v7i3.20545.
W. Darmawan, M. Basuki Rahmat, A. Khumaidi, R. Yudha Adhitya, and D. Pristovani Riananda, “Perancangan Strategi Keputusan Robot Sepak Bola Beroda menggunakan Metode Decision Tree,” J. Elektron. dan Otomasi Ind., vol. 10, no. 2, pp. 175–182, 2023, doi: 10.33795/elkolind.v10i2.3020.
M. J. Saputra, A. Khumaidi, R. Satrya, and F. Jaelani, “Implementasi Estimasi Jarak Relatif Objek Berbasis ROS2 pada Robot Sepak Bola Menggunakan YOLO dan Kamera,” J. Elektron. dan Otomasi Ind., vol. 13, no. 1, pp. 110–121, 2026, doi: 10.33795/elkolind.v13i1.9813.
F. D. Ikram, A. Khumaidi, M. B. Rahmat, J. Endrasmono, M. Syai, and D. Pristovani, “Deteksi Objek di Lapangan pada Robot Sepakbola Beroda Menggunakan Metode YoloV5,” J. Elektron. dan Otomasi Ind., vol. 11, no. 2, pp. 604–611, 2024, doi: 10.33795/elkolind.v11i2.5235.
Wahid Hasyim, I. Siradjuddin, and L. Kamajaya, “Robot Beroda Pemindah Barang otomatis Dengan Metode Path Planning,” J. Elektron. dan Otomasi Ind., vol. 12, no. 2, pp. 244–253, 2025, doi: 10.33795/elkolind.v12i2.4014.
A. A. Wahyudi, Agus Khumaidi, Mohammad Basuki Rahmat, Dimas Pristovani Riananda, Mat Syai’in, and Joko Endrasmono, “Implementasi Robot Operating System (ROS) Untuk Meningkatkan Akurasi Deteksi Bola Menggunakan YOLO V5 Pada KRSBI-Beroda,” J. Elektron. dan Otomasi Ind., vol. 11, no. 2, pp. 648–661, 2024, doi: 10.33795/elkolind.v11i2.5234.
S. S. Hidayatullah and E. Saputra, “Perancangan Omni Vision Camera sebagai Sistem Pendeteksi Objek untuk Robot Sepak Bola,” Jambura J. Electr. Electron. Eng., vol. 4, no. 2, pp. 229–235, 2022, doi: 10.37905/jjeee.v4i2.14495.
M. Basavanna., M. Shivakumar., K. R. Prakash., and P. Bhomkar, “ROS Based 3D Mapping of an Indoor Environment Using Fusion of Orbbec Astra Camera and Lidar on Turtlebot Mobile Robot,” 2021 5th Int. Conf. Electr. Electron. Commun. Comput. Technol. Optim. Tech. ICEECCOT 2021 - Proc., no. October, pp. 323–327, 2021, doi: 10.1109/ICEECCOT52851.2021.9708058.
A. Khumaidi, M. A. Yaqin, R. Y. Adhitya, S. M. Irsyad, and M. J. Saputra, “Penerapan Rotary Encoder sebagai Sistem Odometry untuk Navigasi Robot Sepak Bola Beroda,” JURITEK J. Ilm. Tek. Mesin, Elektro dan Komput., vol. 5, no. 3, pp. 291–301, 2025, doi: 10.51903/juritek.v5i3.6043.
A. Jayadi, P. A. Pratomo, and E. R. Dalimunthe, “Implementasi Algoritma A-Star untuk Perencanaan Jalur Robot Menggunakan Deteksi Warna Berbasis Kamera,” Blend Sains J. Tek., vol. 4, no. 1, pp. 116–127, 2025, doi: 10.56211/blendsains.v4i1.987.
S. M. Irsyad, A. Khumaidi, R. Y. Aditya, and A. R. Ramadhan, “Predicting Real Distance for Wheeled Soccer Robot using YOLO Architecture,” Int. J. Informatics Comput., vol. 7, no. 2, pp. 806–821, 2025, doi: 10.35842/ijicom.v7i2.200.
A. Ghabussi, “Motion Control and Path Planning and Tracking Algorithm of Football Robot,” Int. J. Multimed. Comput., vol. 1, no. 1, pp. 15–30, 2020, doi: 10.38007/ijmc.2020.010102.
A. Bonci, F. Gaudeni, M. C. Giannini, and S. Longhi, “Robot Operating System 2 (ROS2)-Based Frameworks for Increasing Robot Autonomy: A Survey,” Appl. Sci., vol. 13, no. 23, pp. 1–31, 2023, doi: 10.3390/app132312796
DOI: https://doi.org/10.21107/triac.v13i2.35303
Refbacks
- There are currently no refbacks.
Copyright (c) 2026 Jurnal Teknik Elektro dan Komputer TRIAC
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
