Some strategies for simulating football

 

After less than a month of Development of the simulation Robot Football platform, I learned a little and summarized some small experiences in the development process. I hope you can study and discuss them together.

 

1Defense:

AAfter the opening, the other party will attack each other, and our team members will be in front of the other party. In this case, it is effort-saving defense:

AThe defensive position is the link between the opponent and the midpoint of our game. Then, we can get a defensive point based on a certain proportion. Of course, this point is between the opponent and the midpoint of our game, the defensive advantage of this solution is that the opponent cannot take a shot immediately after obtaining the ball. The disadvantage is that the opponent cannot be defended to pass the ball in our area, so we will have fewer chances to break the ball.

BThe other defensive position can be the connection between the ball and other opponents running the attack. Take a certain percentage of points. Of course, the same as the defense point is between the ball and people. The advantage of this solution is to prevent the other party from passing the ball and we have more chances to break the ball, but it is easier to miss people by week than the other party at this point during each cycle, when the opponent gets the ball, it will soon enter the attacking State and take a shot.

BDuring our attack, the other party broke the ball and the other party entered a counterattack. At this time, it was very difficult for our Ministry of National People's Congress to defend against the attack at half-time. In this case, we should find the most suitable target for defense. There is also how to defend against attacks by multiple people on the other side, because one of us may still come and go back for defense. At this time, we should consider using the combination of the doorman to complete the defense.

 In the defensive process, whether it isAWhich of the following methods is used to get the opponent to grab the ball when we are close to the other party? In this way, the other party will get the ball controlled at the same time in the next cycle, so that the other party can make the PASS command. In the noise-free platform, the passing process is easy to throw the ball. There are not only platform noise, but also poor computing and many other factors. Even if the opponent does not pass the ball, when the two players' positions and coordinates overlap, the platform will simulate a collision so that the two players are separated and the ball will be thrown between the two, which will give us a chance to win the ball. We make a reasonable calculation about the human-to-man defensive process, and compare the time allocation of each of our team members so that they can defend each other in the shortest time. Here we can use a group action to figure out which attacking opponent each player should defend.

  Another thing is about the goalkeeper's throttling. It is only in front of the body, so in our team we will see that the goalkeeper is always on the defensive side, in this way, there will be more opportunities for the goalkeeper to throw the ball. But it is very unfavorable for its defense, because the speed will be a little slow when running in the opposite direction of the body. There is also the goalkeeper's position. When the opponent has only one attack, we may wish to expand the defender's angle (that is, let the attacking players step in, reduce the gap between the opponent and our goal) to reduce the chance of shooting. When many people attack each other, the goalkeeper's position should be repositioned. In the course of attacking different numbers of people, I want to have different defensive solutions in order to make the most reasonable defense. This includes multiple defenses, one defense, and more (one person standing near the door guard with the door guard.

 

2Attack position

AThe running position directly affects the attack speed. A good running position can quickly break through the defense of the other party. During this competition, I learned that during the preparation of the running position, I cannot simply consider what the running position is, we have to calculate whether the opponent is defending when our players run to that point. When the players pass, the physical strength and physical orientation of the players are achieved, and will the other party's position affect our pass. Considering these situations, if we have fixed the approximate position, we are constantly correcting these points to make our position more attacking, I mentioned above that the fast break means that the player's position is more powerful than the attack, so that we can pass the ball in favor of shooting.

BWe can divide the running position into multiple sets and divide it into different attack running points in different ball control areas. I remember a senior who once wrote that a stadium should be divided into five zones, and there are different places to run in each area. However, this kind of location is messy and labor-intensive. Therefore, I am more inclined to go to the position I mentioned above, that is, to set a rough point and then constantly find a suitable point, we have enough time to get rid of each other because the other party is slower than you by one cycle. However, we need to consider some possible out-of-bounds points. When our team members reach an out-of-bounds point, we need a reasonable solution.

CWhen the doorman gets the ball, we have to assign one or two people to go back to the ball, and another one is to have a flexible runner around the ball players. This will make the team more flexible and greatly increase the chance of attacking. When we enter the opponent's restricted area, the key to determining whether a team is good or bad is to safely move the ball upside down.

 

3Pass

A weight: When passing the ball, we certainly have to select a suitable attacking teammate to pass the ball, however, we 'd better not simply consider who is close to the opponent's goal, so we can transfer the ball out. We also need to consider whether it will be good for us to attack our teammates after they get the ball, although a player is suitable for passing the ball to him, when he gets the ball, the opponent's players will soon defend him, which is not conducive to our passing. Of course, the best solution is to set a value for each player, and then consider whether he is near the opponent's door and whether someone around him is defending (it is best to consider someone in front of him and someone in the back) add and subtract the weights respectively. But the premise is that we can pass the ball successfully, that is, our players will get the ball ahead of each other. Finally, we will draw a number of suitable pass-passing teammates and sort them by weight.

BPoint Selection: you do not have to pass a pass to a person's body. You can also pass the pass around him. There is no reasonable point to pass the ball ,(1In the past, I used to perform a series of scans on the points in front of the players who are going to pass the ball (this front refers to the direction of attack ),(2But you can also choose a series of points from the straight line in front of the player's body ,(3You can also draw a line between the player's coordinates and the opponent's door to select some points here. Of course we cannot say which is good or bad, because it has its own advantages. Take (1) Well, this scan is quite extensive and is also helpful for us to attack, but we didn't consider that the orientation of our players would lead to a chance to reduce pass passing.

CDetails: when passing a pass to a teammate's body, we can increase the speed. However, when passing a pass in advance, we must consider the noise of the stadium, it is easy to throw the ball rather than making the ball too fast. The main reason is that teammates can run to the point of the ball in a few cycles, and then make a periodic plan to kick the ball out at a certain speed.

DWhen making the PASS Command, the teammates who want to catch the ball should also run to that point to avoid unnecessary ball losses.

 

4Shot

APoint Selection: the general solution is to scan the other side of the ball from the other side of the ball to get a point that the other goalkeeper cannot reach. In this competition, we made a small change in this computation, that is, when we are on the left of the goalkeeper, we start scanning from the left, and vice versa. The advantage of doing so is sometimes to avoid unnecessary mistakes (when the door clerk is on the left, while our shooting team members have the right, if only scanning from the left to the right, there may be a point that is just a point on the right of the door clerk. Although it is calculated that the door will enter, it may throw the ball if there is noise on the platform. However, if we scan from right to left, this will not happen ).

BWhen we are at a certain distance from the other clerk, we 'd better consider that the clerk shot the door, because when the ball speed is very large, although the opponent makes a judgment on the ball to be controlled in this cycle, the ball will be shot after the body arrives at that cycle.

CIn addition, when a single knife is used, the door guard kicked the ball into the door without cooperation. I have not implemented this process yet. Let's talk about my personal opinion: first, kick the ball to the left position and let the doorman make it. We want to take a shot from the left, but we want to take a shot from the right. Because the scope of the finning is (-90 ~ 90.

 

5Ball substitute

ABall control: a good ball control will give us a lot of opportunities to attack. When we become a opponent's player, we will break their defensive strategy, to a certain extent, it is advantageous for us to lose the ball.

The center of ball control is how to determine which party and I control the ball in each cycle, after this is done, we can determine the point to which our players will kick the ball (of course, we can still control the ball in the next cycle, but the other party still cannot get the ball ), this requires us to calculate the trajectory of each other in this cycle, because the other party does not know where the ball will be in the next cycle. He can only speculate from this cycle where the ball will be in the next cycle, we can make judgments based on other factors such as the opponent's physical strength, physical orientation, and speed. It is impossible for us to kick the ball to a point in the next cycle, no matter how we exercise, however, we can still control the ball in the next cycle.

BBall substitute: the Core of the ball substitute is to keep pushing the ball to the opponent's goal. However, in some cases, we do not have to kick the other party's goal, we can also go back and forth on behalf of the ball. When we attack, sometimes our teammates are very defensive by the other party, we can neither represent the ball forward. We can also consider moving forward in the direction where we can represent the ball, so that our teammates can run away and then wait for a gap to attack. The general idea of ball substitute is that we select some points that are conducive to attack and determine which point we can kick the ball and the other party cannot get the ball, it is generally a series of points in the body orientation, sometimes not in the door direction, but we have to constantly adjust it so that it can attack the door in general. We don't play football in every cycle. Sometimes the ball has its own speed in this cycle, but this speed is the same as what we want, in addition, it won't be scored by the opponent if it moves like this, so we don't have to play it again because it is not only a waste of physical strength but also a waste of time. We can start with the ball. This is to let the ball attack the opponent's door in our own body. The biggest advantage is that the ball will not be lost.

 

Summary:M ε

This is a little bit of experience in the development process over the past few years, and there may be many shortcomings. I hope to help my friends who have developed this competition. I hope this competition will be successful.~