Abstract
At the RoboCup, a robotics soccer tournament, the Small Size League (SSL) is one of its leagues. The thought of a mechanism in this league that could perform unpredictable kicks and passes inspired study into both the physical mechanism required to do it and the algorithms needed to make the most of it.By introducing new ideas and utilizing a Deep Neural Network, this work contributes by improving a prior algorithm that aims to carry out a real-time inversion of the non-linear ordinary differential equation (ODE) that models the ball’s path in order to determine the parameters to hit a target with a curved kick mechanism (DNN). New techniques are also presented. The two suggested DNN achieved accuracy levels of more than 92% in the outcomes of simulation runs in MATLAB.
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Code Availability
The codes used on the present work are available at https://github.com/GuiPCLeao/SS-Curved-Kick.
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Acknowledgements
The authors Azevedo and Leão would like to thank all ITAndroids members and the team’s sponsors: Altium, Cenic, Intel, ITAEx, MathWorks, Metinjo, Micropress, Polimold, Rapid, SolidWorks, STMicroelectronics, Wildlife Studios, Fieldpro and Virtual.PYXIS. Marcos Maximo is partially funded by CNPq – National Research Council of Brazil through the grant 307525/2022-8.
Funding
Marcos Maximo is partially funded by CNPq – National Research Council of Brazil through the grant 307525/2022-8. The ITAndroids team is supported by the following sponsors: Altium, Cenic, Intel, ITAEx, MathWorks, Metinjo, Micropress, Polimold, Rapid, SolidWorks, STMicroelectronics, Wildlife Studios, Fieldpro and Virtual.PYXIS.The authors declare that no funds, grants, or other support were received during the preparation of this manuscript.
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The ball movement modelling, field discretization, dataset creation of both networks and obstacle avoidance algorithm were performed by Francisco Arthur Bonfim Azevedo. The neural networks design, trainning, validation and tests were performed by Guilherme Pinheiro Cordeiro Leão. Marcos Ricardo Omena de Albuquerque Maximo contributed with extensive revision, literature review, ideas on how to solve the problems especified on this work. All authors read and approved the final manuscript.
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B. Azevedo, F.A., C. Leão, G.P. & Maximo, M.R.O.A. Neural Network Design for a Curved Kicking Mechanism with Obstacle Avoidance in RoboCup Small Size League (SSL). J Intell Robot Syst 110, 124 (2024). https://doi.org/10.1007/s10846-024-02140-0
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DOI: https://doi.org/10.1007/s10846-024-02140-0