00251426 2005 2 10
00251426 RoboCup RoboCup 11 11 10 RoboCup RoboCup ( ) ( ) ( ), 2005 2 10. i
1 1 2 RoboCup 3 2.1 RoboCup.......................... 3 2.2 RoboCup.......................... 4 2.3 RoboCup........................... 5 3 7 3.1................... 7 3.2..................... 8 3.2.1 : Visual Sensor.................. 8 3.2.2 : Audio Sensor................... 10 3.2.3 : Body Sensor................... 11 3.3 soccermonitor............................. 11 3.4............................. 12 3.5............................ 12 3.6................................. 13 4 UvA Trilearn 2003 15 4.1 U v A Trilearn 2003................. 15 4.2 WorldModel.............................. 16 4.3 BasicPlayer.............................. 17 4.4 BasicCoach.............................. 17 5 22 5.1 Keeper................................. 23 5.2 Passer................................. 23 5.3 Interceptor............................... 25 5.4 Receiver................................ 26 5.5 Passive................................. 26 ii
5.6................................ 26 5.6.1 UvA Trilearn 2003...................... 27 5.6.2.......................... 29 5.6.3....................... 30 5.6.4. 31 5.7......................... 32 6 34 36 37 iii
2.1 RoboCup.......................... 4 3.1................... 9 3.2............... 11 5.1............................ 24 5.2................. 27 5.3 UvA Trilearn 2003............... 28 5.4.................... 29 5.5.................. 30 5.6.............. 31 4.1............................ 18 4.2........................... 19 4.3............................ 20 4.4............................ 21 5.1 UvA Trilearn 2003............... 28 5.2.................... 29 5.3.................. 30 5.4.............. 31 iv
1 RoboCup RoboCup RoboCup RoboCup AI RoboCup 11 11 10 RoboCup RoboCup 1
2 RoboCup RoboCup RoboCup 3 4 5 6 2
2 RoboCup RoboCup RoboCup RoboCup 1997 RoboCup RoboCup RoboCup AI Robocup RoboCup 2050 2.1 RoboCup RoboCup RoboCup RoboCup 3
RoboCup 2.1 RoboCup RoboCup RoboCup RoboCup 2.1 RoboCup 2.2 RoboCup RoboCup RoboCup 1. 11 11 5 2. 18cm 5 1 4
3. 50cm 4 9 360 4. AIBO 4 1 5. 2002 2.3 RoboCup 1992 RoboCup 1992 RoboCup 1995 RoboCup 1997 RoboCup 10 40 1998 SONY4 1 RoboCup ) 2 RoboCup 20 63 ) 1999 2 RoboCup ) 3 RoboCup 35 120 5
2000 3 RoboCup ) RoboCup 19 110 ) 2001 4 RoboCup ) 5 RoboCup 22 119 ) 2002 6 RoboCup 29 188 2003 6 RoboCup 7 RoboCup 34 277 ) 2004 RoboCup ) RoboCup 37 346 ) 2005 9 RoboCup (, 13 19 ) 2006 10 RoboCup 2050 2050 6
3 1 1 soccerserver soccermonitor 2 soccerserver soccermonitor X soccermonitor 1 soccerserver 3.1 IP UDP/IP 7
UDP/IP UDP/IP 1 say hear 3.2, Time, 3.2.1 : Visual Sensor 8
3.1 (see Time ObjInfo... ObjInfo...) Time ObjInfo ( see 0((f c)21.1 34 0 0)((f c b)51.4 6)((f l b) 83.1 43) ((f p l b)62.2 44)((f b 0)56.3 5)((f b r 10)54.1-6) ((f b r 20)54.1-16)((f b r 30)56.3-27)((f b r 40)59/7-36) ((f b r50)64.1-44)((f b l 10)59.7 14)((f b l 20)64.1 22) ((f b l 30)70.1 29)(((f b l 40)76.7 35)((f b l 50)84.8 39) 9
((b)22.2 34 0 0)((1 b)49.9 79)) (p : player, b : ball, f : flag, g : goal, Side : right or left) = Info Info 55 ( ) 4 3.2 1. 2. 3. 4. 3 ( x,y ) 3.2.2 : Audio Sensor (hear ) (hear 3000 referee kick off r) 3000 (=300 10
3.2 3.2.3 : Body Sensor 3.3 soccermonitor soccermonitor soccerserver UDP/IP soccerserver logplayer (100ms) soccermonitor 11
3.4 : (init ) init : (dash (-100 100)) (dash 100) 100 : (turn (-180 180 )) (turn 20) 20 : (turn neck (-90 90 )) (turn neck 20) ) 20 : (kick ( 90) (-180 180 )) (kick 90 30) ) 90 30 3.5 1. : init 2. 5 : kick off 3. 4. half time : 5. reconnect 6. 5 7. 12
3.6 1. move kick off kick in corner kick goal kick kick off kick in corner kick 9.15m offside 9.15m non offside goal kick 13
play on kick off kick in corner kick kick play on 2. 3 4 14
4 UvA Trilearn 2003 UvA Trilearn 2003 RoboCup 2003 U va Trilearn 2003 Web [1] 4.1 U v A Trilearn 2003 U v A Trilearn 2003 C++ 32000 ActHandler BasicCoach BasicPlayer Connection Formations GenericValues Geometry Logger 15
Parse Player PlayerSettings ServerSettings WorldModel WorldModel BasicPlayer WorldModel BasicPlayer Player 4.2 WorldModel WorldModel 16
4.3 BasicPlayer BasicPlayer.cpp 4.1 4.4 4.4 BasicCoach RoboCup 17
alignneckwithbody turnbodytopoint (, ) searchball dashtopoint (, ) freezeball kickballclosetobody (, ) accelerateballtovelocity ( ) catchball communicate ( ) teleporttopos ( ) listento ( ) tackle 4.1 18
turnbodytoobject (object) object turnnecktoobject (object, ) object movetopos (,,, ) collidewithball interceptclose interceptclosegoalie kickto (, ) movetoposalondline (,, ) 4.2 19
intercept ( ) intercept dribble (, ) directpass (, ) direct pass leadingpass (,, ) leading pass throughpass (,, ) through pass outplayopponent (, ) attacker defender clearball (,, ) mark (,, ) defendgoalline ( ) interceptscoringattempt intercept holdball 4.3 20
getthroughpassshootingpoint (,, ) getinterceptionpointball (, ) intercept getactiveinterceptionpointball (, ) intercept getshootpositiononline (, ) getendspeedforpass (, ) turnnecktoobject (object, ) object getmarkingposition ( ) 4.4 21
5 UvA Trilearn 2003 Web UvA Trilearn 2003 UvA Trilearn 2003 Def ender Midfielder Attacker 22
P asser Receiver Midfielder Intercepter P assive 5.1 Keeper 5.1 5.2 Passer Passer 1 4 1. 20m (cone) 4, 1, kickto(, ) ( ) 2. 23
5.1 1 (a) (b) 2 3m 1 directpass(, ) directpass Pass Fast Pass Normal 2 Pass Normal 3. 1 2 (a) 2 24
(cone) 20.0m 14.0m 1 dribble(,dribble FAST) (b) (a) (a) 10.0m 4.0m 1 dribble(,dribble SLOW) 4. 1 3 kickto(, ) ( ) 5.3 Interceptor Interceptor intercept intercept intercept 25
5.4 Receiver Passer intercept 5.5 Passive 1. 2. 5.6 5 UvA Trilearn 2003 10 Passer 3 5 1. 2. 3. UvA Trilearn 2003 Defender Midfielder Attacker 442(a) 442(b) open defensive 26
5.2 5.2 5.6.1 UvA Trilearn 2003 UvA Trilearn 2003 5.1 10 5.1 5.3 27
433 334 442(a) 442(b) 343 433 15-9 17-14 2-2 7-6 17-6 58-37 334 14-17 24-7 2-3 8-11 14-11 62-49 442(a) 2-2 3-2 5-7 10-6 0-4 20-21 442(b) 6-7 11-3 6-10 22-10 5-7 50-37 343 6-17 11-14 4-0 7-5 15-13 41-49 5.1 UvA Trilearn 2003 5.3 UvA Trilearn 2003 28
5.6.2 5.2 5 433 334 442(a) 442(b) 343 433 6-6 4-7 1-3 4-2 5-2 20-21 334 6-4 7-9 2-6 5-3 10-11 30-33 442(a) 0-3 2-2 4-1 9-3 1-3 16-12 442(b) 2-1 6-4 1-4 5-7 1-1 15-17 334 4-8 6-9 2-3 2-3 7-6 21-29 18-22 25-31 10-17 25-18 24-23 5.2 5.2 5.4 5.4 29
5.6.3 5.3 5 433 334 442(a) 442(b) 343 433 0-11 0-12 1-5 0-4 0-12 1-45 334 0-8 1-7 3-5 4-7 0-16 8-43 442(a) 0-3 1-3 4-4 0-7 1-1 6-18 442(b) 1-4 2-2 2-3 1-10 1-4 7-23 343 0-9 0-12 1-7 1-6 0-11 2-45 1-35 4-36 11-24 6-34 2-44 5.3 5.3 5.5 5.5 30
5.6.4 5.4 5 433 334 442(a) 442(b) 343 433 0-16 4-26 5-5 11-7 6-14 26-65 334 3-8 7-16 5-6 7-10 5-7 27-47 442(a) 0-5 2-4 1-5 3-10 3-2 9-26 442(b) 1-6 0-10 0-6 4-8 3-5 8-35 343 2-15 3-20 5-9 9-8 2-10 21-62 6-50 16-76 16-31 34-43 19-38 5.4 5.4 5.6 5.6 31
5.7 1. UvA Trilearn 2003 442(a) 2. UvA Trilearn 2003 3. Passer 4. Passer UvA Trilearn 2003 32
33
6 4 10 34
35
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[1] UvA Trilearn 2003, http://www.science.uva.nl/ jellekok/robocup/ [2] RoboCup Official Site, http://www.robocup.org/ [3] M.Chen, K.Dorer, E.Foroughi et. al, Users Manual, Robocup Soccer Server for Soccer Server Version 7.07 and later, Feb. 11, 2003. [4] Emiel Corten, Klaus Dorer Fredrik Heintz, Kostas Kostiadis, Johan Kummeneje, Helmut Myritz, Itsuki Noda, Jukka Riekki, Patrick Riley, Peter Stone, Tralvex Yeap, Soccerserver Manual( ), Ver.5, Rev. 00 beta. [5], 14 [6], http://metalmoni.s3.xrea.com/x/soccer.html 37