CAJ | 학술논문

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.
위료가강족구궤기인방진5V5비새전장적진공,문장이증강진공대원지간적동태협작배합위출발점,설계료"3+1"적전장진공대형급기공제산법.해대형이당전소구위치위핵심,근거소구위치계산출당전궤기인응해창점적잡위점;통과대매개궤기인진행각색분배,진이사궤기인재괄당시궤주출상응적진공동작.방진결과표명,가입"3+1"진공대형공제후적책략재사문성공솔、전장절구능력급방수능력상도유료교대개선.
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%.