DocumentCode :
426353
Title :
Planning coordinated motions in robot soccer match
Author :
Lee, Sukhan ; Lee, DongHun
Author_Institution :
Intelligent Syst. Res. Center, Sung Kyun Kwan Univ., Suwon, South Korea
Volume :
4
fYear :
2004
fDate :
28 Sept.-2 Oct. 2004
Firstpage :
4056
Abstract :
A robot soccer match poses an interesting problem in planning: the planning of coordinated motion of individual players as a team, against the opponent players the next move of which is not known a priori, in such a way as to achieve the common goal, i.e. winning the match. The outcome of a soccer match depends largely on how well the motions of individual players of a team are coordinated against those of the opponent. The technical challenge lies in formulating such coordination strategy together with computational formalism that allows a real-time search for an optimal coordinated motion of individual players. In this paper, we propose the concept of the "controllable zone" of a player or a team, representing the area or the set of field positions that the player or the team can occupy before the opponents at time t. A systematic way of computing various forms of controllable zone is presented. Based on the formalism of controllable zone, it is possible to identify whether a team should be in an offensive or a defensive mode, and which strategy among shooting, capturing, dribbling, and passing is desirable for the team at time t. The coordinated motions of individual players are then determined in such a way as to optimize the strategic scores associated with controllable zones. The proposed paradigm is applied to a real environment for animated simulation: 3×3 FIRA World Cup micro robot soccer match, to evaluate its performance.
Keywords :
mobile robots; multi-robot systems; path planning; controllable zone; coordinated motion planning; micro robot soccer match; player defensive mode; player offensive mode; robot soccer match; Acceleration; Animation; Control systems; Intelligent robots; Intelligent systems; Motion control; Motion planning; Robot kinematics; Systems engineering and theory;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
Type :
conf
DOI :
10.1109/IROS.2004.1390050
Filename :
1390050
Link To Document :
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