Robust Algorithm for Safety Region Computation and Its Application to Defense Strategy for RoboCup SSL

  • Taro Inagaki
  • Akeru Ishikawa
  • Kazuhito Murakami
  • Tadashi Naruse
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7416)

Abstract

We have proposed a new concept of “safety region” which we use to measure the position of the defense robots[5]. It is defined as a region that the teammate robot(s) can defend the goal when an opponent robot shoots the ball from the inside of the safety region while teammate robots are positioned according to their defense strategy.

Since it is difficult to obtain the accurate safety region in a short time, we need an algorithm that computes an approximate safety region in real time. We proposed such algorithm in the previous paper[5]. However, the safety region obtained by the algorithm is not accurate enough. Therefore, in this paper, we propose an improved algorithm to compute the approximate safety region. We have achieved 95% accuracy and less than 1 msec of computation time, which is adequate for our RoboCup application. We also propose a defense strategy based on the safety region considering the positions of the opponent robots and the pass direction. The achieved results indicate accurate performance for determining the positions of the defense robots.

Keywords

Safety Region Pass Line Defense Strategy Real Robot Robust Algorithm 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Taro Inagaki
    • 1
  • Akeru Ishikawa
    • 1
  • Kazuhito Murakami
    • 1
  • Tadashi Naruse
    • 1
  1. 1.School of Information Science and TechnologyAichi Prefectural UniversityNagakute-choJapan

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