High-speed shooting method for FIRA5V5 simulation soccer

In FIRA5v5 robot soccer simulation, good attack algorithm is a key factor to win a match. However, most traditional offensive shooting algorithms neglects the importance in controlling the velocity of the ball. This paper realizes a high-speed driving ball algorithm to improve attack efficiency. In this method, a main attacker and an assistant player work in cooperation to control the speed, angle and other factors to improve the ball speed, which is far greater than the attack players and the goalkeeper's speed. Specially, the position of ball on the move are predicted, and the factors including robot vehicle's size and the ball's radius are also taken into consideration. Experiments were conducted using this method and the results show its effectiveness and efficiency.