基于FIRA仿真足球守门员的决策设计

Decision Design of Goalkeeper Based on FIRA Simulation Soccer

研究FIRA机器人足球守门员的准确性站位设计。由于守门员站位不精确,导致失败。为了提高守门员对于小球危险程度判断的准确性及其站位的精确性,提出了以球门线为公共弦长、不同半径大小的圆形区域来划分场地,提取小球、场地和守门员的综合信息,通过小球与球门线的距离、射门角度以及速度判断场地区域的危险等级,进而采取不同的防守策略。同时提出一种新的基于"角平分线—中点连线中点"站位方法,综合运用其它不同的站位法来修正守门员最佳位置,结合守门员的动作模型实现快速、准确、高效的防守。实验结果表明,证明防守策略提高了守门员防守的成功率,为足球仿真平台的设计提供了依据。

Research the decision design of goalkeeper based on FIRA robot soccer simulation platform.To improve the accuracy of goalkeeper＇s judgment about the risk degree of the ball and precision of its position,we presented a method of using the goal line as public chord to divide the field into different radius circular area.The goalkeeper fetched comprehensive information of the ball,field and goalkeeper,then determined the risk grade of the area by distance from ball to goal line,shoot angle and speed to takes different defense strategy.Meanwhile,a new position method named ＂mid-point of the line connecting angular bisector with mid-point＂ was proposed,which modified the keeper＇s best position by comprehensive use of different ways to realize the fast,accurate and efficient defense.It shows that the defensive strategy significantly improves the success rate of defending goalkeeper.