Cunha-2011e

Conference proceedings article

In robotic soccer the ball is the most crucial factor of the game. It is therefore extremely important for a robot to retrieve it as soon as possible. Thus ball interception is a key behaviour in robotic soccer. However, currently most MSL teams move to the ball position without considering the ball velocity. This often results in inefficient paths described by the robot. This paper presents the CAMBADA solution for a ball interception behaviour based on a uniformly accelerated robot model, where not only the ball velocity is taken into account but also the robot current velocity as well as the robot acceleration, maximum velocity and sensor-action delays are considered. The described work was introduced in the Portuguese robotics open Rob´otica2009 and RoboCup 2009 and improved the team performance contributing to the first and third places, respectively.