足球机器人仿真比赛中的进攻队形设计及控制研究

为了加强足球机器人仿真5V5比赛前场的进攻,文章以增强进攻队员之间的动态协作配合为出发点,设计了"3+1"的前场进攻队形及其控制算法.该队形以当前小球位置为核心,根据小球位置计算出当前机器人应该抢占的卡位点;通过对每个机器人进行角色分配,进而使机器人在适当时机做出相应的进攻动作.仿真结果表明,加入"3+1"进攻队形控制后的策略在射门成功率、前场截球能力及防守能力上都有了较大改善.

Offensive Formation Strategy and Control Algorithm in SimuRoSot(Simulation of Soccer Robot)

Section 1 of the full paper presents Fig.1 as the block diagram of our offensive formation strategy and control algorithm in SimuRoSot.Section 2 explains how to establish our offensive formation strategy and control al gofithm in SimuRoSot.Subsection 2.1 presents Fig.2 as the flow chart for selecting the offensive formation;in Fig.2,Case 1 is the"3+1"formation.Subsection 2.2 gives a nine-step procedure for working out part of the algorithm for the"3+1" formation.Subsection 2.3 presents Fig.4 as the block diagram for task control and formawith six soccer indices for comparing our new strategy with the original one.The results of comparison are listed in Table 1.These results show preliminarily that:(1)the number of shooting times increases by 3.25 per game;(2)the rate of successful shooting without second trial increases from 21.0%to 25.2%;(3)the number of dead chick times increases by 1.02 per game;(4)the dead chick successful rate increases from 5.7%to 12.1%;(5)the number of interception times in front court increases from 2.23 to 6.73 per game;(6)the rate of possession increases from 40% to 60%.