基于场地划分的RoboCup中型组守门员动态策略防守

Goal-keeper Dynamic Defence Strategy of Robo Cup Mid-size Group Based on Field Partition

中型组守门员多是从单一的几何算法角度上考虑守门员的防守策略。在实际比赛中,场上形势变化快,足球运动轨迹和状态不规则,单一的防守策略较难适应场上变化。利用动态策略的守门员根据足球运动状态、足球所属区域、守门员站位等场地信息进行动态决策,弥补了单一策略在实时性上的不足,有效提高了守门员防守能力。利用动态策略的守门员在实地实验和实际比赛中效果明显优于单一策略。

Goal-keeper defence strategy of traditional mid-size group are used to use single geometric algorithms that difficult to adapt to field movement and ball trajectories and state in competition. Goal-keeper use dynamic decision according to football state,football respective districts,goalkeeper stations and other information in field that make up a single strategy in real -time defence and effectively improve the goalkeeper. The goal-keeper use dynamic defence strategy is superior to a single strategy in field experiment and competition.