Ind yff first week

1. Considering the goalkeeper's lack of sensitivity , When the opponent attacks the last barrier , The probability of interception can be increased by letting the goalkeeper pace back and forth in front of the goal , Achieve the goal keeping effect .

2. When choosing a strategic formation , After many observations of the robot , And use Matlab Plot the generated data , Thus to the specific parameters , After repeated comparison and practice, we get the best strategic formation . Because in use CMA-ES Too few factors are considered when the algorithm optimizes gait , Resulting in poor optimization effect , Further improvements are needed . When adjusting the kick angle , With the help of external software , Get a reference , Further modify the parameters of the angle .

3. attack ： The forward adopts the triangle encirclement strategy , Grab the ball with the nearest player , At different stages of the game , Use different offensive strategies , Different players have different responsibilities .： Fast players , I arranged for them to defend in midfield , A good player , I arrange 1 One in the rear to grab and pass , Introduction to football .

4. To solve defensive problems , In defense, according to the position of the ball and the prediction of the position of the opponent's offensive players , Take the initiative to form an effective network defense system , Let the players in the middle and front court actively delay after losing the ball 、 Even counter rob , The players cooperate and use the broken ball to run and mark to slow down the process of the opponent's advance , Then the defender quickly retreats and stands in his defensive position , Adopt the combination of regional defense and key defense , Form a three-dimensional defense system similar to Barcelona . At the same time, we add the dynamic movement of our own players in the other half and modify the defensive players' own position 、 Set kick-off 、 With the ball 、 Support 、 A shot （ In the process of attack , Strive to be swift and steady , While attacking , While doing a good job in the counter attack strategy after losing the ball ）, So that the middle and front court players can effectively delay and defend , Form backcourt area defense , Midfield interception , Front court backtracking , Make the team's defensive ability significantly improved .

5. The basic idea of the artificial potential field method is to move the robot in the surrounding environment , Designed as an abstract role in the artificial gravitational field , The target point affects the mobile robot “ Gravity ”, Obstacles affect mobile robots “ repulsion ”, Finally, the motion of the mobile robot is controlled by the joint force . The path planned by this method is generally smooth and safe .

6. Regional standing method , This is a relatively simple method of standing , It divides the stadium into several areas , The danger level of each area is different , The closer you get to the goal, the higher the danger level , Then, according to the danger level, the player's position .

7. About big feet ： Adopt hierarchical learning , The specific design includes UCA Curve design . Gait planning of biped robot ： Robot positioning （ Matrix algorithm , Number of players , List the distance from the player to a certain point , Minimum calculation ） And KALMA wave filtering , The curve matrix does not intersect , Prevent players from colliding .