Formation optimization of RoboCup3D soccer robots using delaunay triangulation network

Abstract

In RoboCup3D robot simulation platform, team collaboration plays an important role in order to win a game. This paper proposes a novel method of team formation design. Firstly, the Delaunay triangulation method is applied to divide the football field into small triangular parts. Then, the SBSP mechanism for the team is employed to choose a reasonable formation. Subsequently, the Linear interpolation method is used to calculate robots' positions in different formations with data set given beforehand. As a result, the team can get the most optimal formation for the football in different positions. The experimental results demonstrate the effectiveness of our methods.