Penalty Shoot-out Strategy for the RoboCup Standard Platform League

Penalty shoot-out is a 1v1 robot match in RoboCup Standard Platform League (SPL), where the performance of a single robot plays a significant role in the competition. In this paper, we design dedicated running strategies and special actions for the two robot roles in the penalty shoot-out on the open-source architecture of the international powerhouse B-human. For the striker, propose a two-stage penalty shot method, a high-speed ball kicking method, and a corresponding optimal shot angle. A forward stance method, a defensive anticipation algorithm, and a dive special action for the keeper are proposed. During the research process, data through repeated tests and experiments are collected using the NAO robot. The improved strategy version improved the goal-scoring rate by about 48.4%, and the defensive success rate increased to 93%.