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Robot Soccer

Robot Soccer. 96419-015 김상태 96419-021 김주남 96419-047 오연희 96419-080 진민식. Strategy. If the player can see the ball and close enough to kick the ball, call the kick tree. Turn in the direction the ball was kicked.

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Robot Soccer

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  1. Robot Soccer • 96419-015 김상태 • 96419-021 김주남 • 96419-047 오연희 • 96419-080 진민식

  2. Strategy • If the player can see the ball and close enough to kick the ball, call the kick tree. Turn in the direction the ball was kicked. • If the player can see the ball but isn’t close enough to kick it, call the move three. • If the player cannot see the ball, turn in the direction last turned until the player can see it.

  3. Genetic Programming • Move tree - for moving the player, return direction and speed • Kick tree - for making kick, return direction and power

  4. Genetic Programming • Function • (home), (ball), (findball), (block-goal), (away-mates), (away-opps), (opp-closer), (home-of I), (block-near-opp v), (mate I v) (inv v) (if-v b v1 v2), (sight v), (ofme I), (ofhome I), (ofgoal I), (weight-+ I v1 v2), (drbble I k), (kick-goal!), (far-mate!), (kick-clear), (kick-if b k1 k2), (opponent-close I), 0,1,2,3,4,5,6,7,8,9

  5. Genetic Programming • Evolution • homogeneous • heterogeneous • psuedo-heterogeneous • crossover • mutation

  6. Genetic Programming • Fitness • Tournament

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