论文标题
计划通过启发式搜索在机器人足球中进球
Planning to Score a Goal in Robotic Football with Heuristic Search
论文作者
论文摘要
本文考虑了计划在机器人足球（Robocup）中发动攻击的问题。问题降低为从目前的位置到对手的目标找到了球的轨迹。启发式搜索算法，即A*，用于找到这种轨迹。为了使该算法适用，我们引入了环境的离散模型，即图以及核心搜索组件：成本函数和启发式功能。两者都旨在考虑游戏状态的所有可用信息。我们广泛评估了将其与一系列基线进行比较的模拟方法。进行评估的结果清楚地表明了在Robocup环境中利用启发式搜索的好处。
This paper considers a problem of planning an attack in robotic football (RoboCup). The problem is reduced to finding a trajectory of the ball from its current position to the opponents goals. Heuristic search algorithm, i.e. A*, is used to find such a trajectory. For this algorithm to be applicable we introduce a discretized model of the environment, i.e. a graph, as well as the core search components: cost function and heuristic function. Both are designed to take into account all the available information of the game state. We extensively evaluate the suggested approach in simulation comparing it to a range of baselines. The result of the conducted evaluation clearly shows the benefit of utilizing heuristic search within the RoboCup context.
