Champion Team Paper: Dynamic Passing-Shooting Algorithm Based on CUDA of The RoboCup SSL 2019 Champion

TL;DR

This paper details the hardware and software innovations, including a dynamic passing-shooting algorithm optimized with CUDA, that contributed to ZJUNlict's championship victory in RoboCup 2019's Small Size League.

Contribution

It introduces a novel dynamic passing and shooting strategy combined with hardware optimizations and multi-agent cooperation for robotic soccer.

Findings

ZJUNlict achieved 6 wins and 1 tie in RoboCup 2019.

The passing point algorithm improved passing accuracy.

Hardware optimizations enhanced robot performance.

Abstract

ZJUNlict became the Small Size League Champion of RoboCup 2019 with 6 victories and 1 tie for their 7 games. The overwhelming ability of ball-handling and passing allows ZJUNlict to greatly threaten its opponent and almost kept its goal clear without being threatened. This paper presents the core technology of its ball-handling and robot movement which consist of hardware optimization, dynamic passing and shooting strategy, and multi-agent cooperation and formation. We first describe the mechanical optimization on the placement of the capacitors, the redesign of the damping system of the dribbler and the electrical optimization on the replacement of the core chip. We then describe our passing point algorithm. The passing and shooting strategy can be separated into two different parts, where we search the passing point on SBIP-DPPS and evaluate the point based on the ball model. The statements and the conclusion should be supported by the performances and log of games on Small Size League RoboCup 2019.