Add English and Chinese README documentation
Added comprehensive project documentation in both English (README.en.md) and Chinese (README.md), including project overview, team members, features, architecture, build instructions, strategy system details, and licensing information.
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<div align="center">
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# ATRI-2024
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***[汉语](README.md)***
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**Ace Team of Robotics Intelligence 2024 FIRA SimuroSot 11vs11 Client**
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[](LICENSE)
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[](https://www.microsoft.com/windows)
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[](https://docs.microsoft.com/en-us/cpp/mfc/mfc-desktop-applications)
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</div>
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## 📖 Project Overview
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ATRI-2024 is a FIRA SimuroSot 11vs11 simulated robot soccer client developed by **Ace Team of Robotics Intelligence (ATRI)** for the **2024 China Robot Competition & RoboCup China Open**.
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Built on the MFC (Microsoft Foundation Classes) framework, this project implements a complete robot soccer strategy system, including player control, tactical decision-making, communication protocols, and other core functionalities.
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## 👥 Team Members
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**Team Leader:**
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- [@xixu-me](https://github.com/xixu-me)
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**Team Members:**
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- [@XIAOLingQ](https://github.com/XIAOLingQ)
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- [@Wx-debug](https://github.com/Wx-debug)
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- [@moxun333](https://github.com/moxun333)
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- [@song-yaya](https://github.com/song-yaya)
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- [@huaxiaoshi](https://github.com/huaxiaoshi)
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- [@biqianq](https://github.com/biqianq)
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- [@isWorldEdit](https://github.com/isWorldEdit)
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## ✨ Key Features
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### Core Modules
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- **Strategy System** (`StrategySystem`): Implements team tactical decision-making and execution
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- Goalie Strategy
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- Possession Strategy
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- Freeball Strategy
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- Penalty Strategy
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- Shot Control
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- Formation Management
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- **Communication System** (`AgentSocket`): Socket communication with simulation server
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- Connection Management
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- Data Reception & Parsing
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- Command Transmission
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- **Base Agent** (`BaseAgent`): Player basic behavior control
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- Motion Control
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- Position Tracking
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- Angle Calculation
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- **Graphical Interface** (`MicroClientView`): Visualization and debugging
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- Real-time Field Display
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- Robot Position Visualization
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- Strategy Debugging Interface
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## 🏗️ Project Structure
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```
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ATRI-2024/
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├── src/ # Source code files (.cpp)
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│ ├── Agentsock.cpp # Socket communication implementation
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│ ├── BaseAgent.cpp # Base agent implementation
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│ ├── DSetupDlg.cpp # Setup dialog implementation
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│ ├── MainFrm.cpp # Main frame window implementation
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│ ├── MicroClient.cpp # Application entry point
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│ ├── MicroClientDoc.cpp # Document class implementation
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│ ├── MicroClientView.cpp # View class implementation
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│ ├── StdAfx.cpp # Precompiled header source
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│ ├── StrategySystem.cpp # Core strategy system implementation
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│ └── TParseString.cpp # String parsing utilities
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│
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├── include/ # Header files (.h)
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│ ├── Agentsock.h # Socket communication interface
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│ ├── BaseAgent.h # Base agent interface
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│ ├── DSetupDlg.h # Setup dialog interface
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│ ├── General.h # General definitions and data structures
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│ ├── MainFrm.h # Main frame window interface
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│ ├── MicroClient.h # Application main interface
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│ ├── MicroClientDoc.h # Document class interface
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│ ├── MicroClientView.h # View class interface
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│ ├── RESOURCE.H # Resource ID definitions
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│ ├── StdAfx.h # Precompiled header
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│ ├── StrategySystem.h # Strategy system interface
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│ └── TParseString.h # String parsing utilities interface
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│
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├── RES/ # Resource files
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│ ├── MicroClient.ico # Application icon
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│ ├── MicroClient.rc2 # Additional resources
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│ ├── MicroClientDoc.ico # Document icon
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│ └── Toolbar.bmp # Toolbar bitmap
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│
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├── docs/ # Documentation
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│ ├── Contest-Rules-2024.pdf # 2024 Contest rules
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│ ├── Field Coordinates.jpg # Field coordinate system reference
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│ └── STRUCTURE.md # Project structure documentation
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│
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├── MicroClient.sln # Visual Studio solution file
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├── MicroClient.vcxproj # Visual Studio project file (2010+)
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├── MicroClient.vcxproj.filters # Project filters
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├── MicroClient.rc # Resource script
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├── README.md # Project documentation (Chinese)
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├── README.en.md # Project documentation (English)
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└── LICENSE # License file
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```
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## 🚀 Quick Start
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### Requirements
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- **Operating System**: Windows 7 or higher
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- **Development Tool**: Visual Studio 2010 or higher
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- **Framework**: MFC (Microsoft Foundation Classes)
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- **Dependencies**: Windows Sockets API
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### Build Instructions
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1. **Clone the repository**
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```bash
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git clone https://github.com/xixu-me/ATRI-2024.git
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cd ATRI-2024
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```
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2. **Open the project**
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- Open `MicroClient.sln` with Visual Studio
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3. **Configure the project**
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- Ensure the project is configured for Release or Debug mode
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- Check include directories and library directory settings
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4. **Build**
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- Press `F7` or select **Build → Build Solution**
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- After compilation, the executable will be in the `Debug/` or `Release/` directory
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### Running the Program
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1. Start the FIRA SimuroSot simulation server
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2. Run the compiled `MicroClient.exe`
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3. Configure in the setup dialog:
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- Server address (default: localhost)
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- Port number (default: 5001)
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- Team name
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4. Click connect to start the match
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## 🎯 Strategy System
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### System Architecture
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The Strategy System (`CStrategySystem`) is the core module of this project, responsible for the entire team's tactical decision-making, formation adjustment, and player control. The system adopts a **state machine pattern**, dynamically switching strategies based on match scenarios, implementing a complete 11vs11 robot soccer intelligent decision-making system.
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#### Main Control Flow
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```cpp
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void CStrategySystem::Action() {
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T++; // Cycle counter
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Goalie(); // Goalie strategy (runs continuously)
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switch (Status()) {
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case 1: // Penalty state
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flag = true;
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Penalty();
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break;
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default: // Normal match state
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flag = true;
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Possession(); // Possession strategy
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break;
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}
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}
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```
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### Core Strategy Modules
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#### 1. Goalie Strategy
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The goalie strategy is the last line of defense, employing a **multi-level predictive defense algorithm** that combines ball trajectory analysis, opponent shooting threat assessment, and intelligent positioning adjustment for efficient goal protection.
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---
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##### 1.1 Core Architecture
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The goalie strategy executes every cycle (runs independently from other strategies in `Action()`), including the following core modules:
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```cpp
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void CStrategySystem::Goalie() {
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if (start)
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ball.oldPosition = ball.position;
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if (ball.position.x <= hgoalie.position.x) {
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// Ball is behind goalie → Execute defense strategy
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Calculate target position (xix, xiy)
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Direction(HGOALIE, CPoint(xix, xiy));
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}
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else {
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// Ball is in front of goalie → Stop moving (teammate controls ball)
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Stop(HGOALIE);
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}
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ball.oldPosition = ball.position; // Update historical position
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}
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```
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**Key Decision**: Defense is only activated when the ball is behind the goalie (`ball.position.x <= hgoalie.position.x`), avoiding blind rushes.
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---
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##### 1.2 Threat Assessment System
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###### Shooting Threat Player Identification (`shooter_pos()`)
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The system identifies the most threatening shooting player from the opponent in real-time:
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```cpp
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CPoint CStrategySystem::shooter_pos() {
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// 1. Get positions of opponent's 11 players
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CPoint cur_pos[11] = { opponent.position1, ..., opponent.position11 };
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// 2. Filter: Exclude players behind the ball (cannot shoot)
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for (int i = 0; i < 11; i++) {
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if (cur_pos[i].x >= ball.position.x)
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cur_pos[i] = CPoint(-965, -723); // Mark as invalid position
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}
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// 3. Calculate nearest opponent to ball (most threatening)
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int threat_id = 0;
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double min_distance = Distance(cur_pos[0], ball.position);
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for (int i = 1; i < 11; i++) {
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if (Distance(cur_pos[i], ball.position) < min_distance) {
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min_distance = Distance(cur_pos[i], ball.position);
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threat_id = i;
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}
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}
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return cur_pos[threat_id]; // Return threat player position
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}
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```
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**Threat Determination Logic**:
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- Only considers opponent players in front of the ball (capable of shooting)
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- Closer to ball = Greater threat
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- Dynamic updates, re-evaluates every cycle
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---
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##### 1.3 Position Prediction Algorithm
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The goalie uses **dual-mode prediction**, selecting the optimal prediction method based on ball movement state:
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###### Mode 1: Trajectory Prediction (Ball in Motion)
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When ball speed is sufficient and movement direction is clear, uses **linear trajectory extrapolation**:
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```cpp
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// Calculate predicted Y coordinate at goal line (X=965)
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double dy = ball.position.y - ball.oldPosition.y;
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double dx = ball.position.x - ball.oldPosition.x;
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// Linear equation: y = kx + b
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// k = dy/dx, b = y0 - k*x0
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int xii = (dy/dx) * 965 + (ball.oldPosition.y - (dy/dx) * ball.oldPosition.x);
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```
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**Trigger Conditions**:
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- `Distance(ball.position, ball.oldPosition) >= 1` (ball is moving)
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- `ball.position.x > ball.oldPosition.x` (ball heading toward our goal)
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- `313 <= xii <= 505` (prediction point within goal range)
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###### Mode 2: Threat Player Prediction (Ball Static or Prediction Failed)
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When trajectory prediction is unavailable, predicts shooting direction based on **line between threat player and ball**:
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```cpp
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CPoint shooter = shooter_pos(); // Get threat player position
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// Calculate intersection of shooting line and goal line
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double dy = ball.position.y - shooter.y;
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double dx = ball.position.x - shooter.x;
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int xii = (dy/dx) * 965 + (shooter.y - (dy/dx) * shooter.x);
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if (xii < 313 || xii > 505) {
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// Prediction point outside goal → Use weighted center method
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xiy = (Distance(ball, CPoint(863,313)) * 192 /
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(Distance(ball, CPoint(863,313)) + Distance(ball, CPoint(863,505)))) + 313.5;
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}
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```
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**Weighted Center Method**: When shooting line doesn't pass through the goal, the goalie stands at the weighted distance center between the two goalposts, covering a larger angle.
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---
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##### 1.4 Positioning Strategy
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###### X-axis Positioning (Depth Control)
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```cpp
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int xix = ball.position.x > 950 ? 965 : 950; // Base position
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int xid = 2; // Forward compensation
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if (Predicted Y < 343 || Predicted Y > 475) {
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xix = 965; // Close to goal line (cover goal corners)
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}
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else {
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xix = 950; // Move forward to 950 (expand defense range)
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}
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```
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**Depth Layers**:
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- **965** (goal line): When ball heads toward goal corners, defend close to goal line
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- **950** (forward position): When ball heads toward goal center, move forward to expand interception range
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- **Dynamic adjustment**: Switches in real-time based on prediction point
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###### Y-axis Positioning (Horizontal Coverage)
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```cpp
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// Trajectory prediction mode
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xiy = (dy/dx) * (xix - xid) + (ball.oldPosition.y - (dy/dx) * ball.oldPosition.x);
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// Threat player prediction mode
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xiy = (dy/dx) * (xix - xid) + (shooter.y - (dy/dx) * shooter.x);
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// Boundary limits
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xiy = max(313, min(505, xiy)); // Limit within goal range
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```
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###### Small-Range Oscillation (Confuse Opponent)
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When the ball is at a distance and doesn't form a direct threat, the goalie oscillates left and right in a small range at the goal line center:
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```cpp
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if (ball.position.x <= 900 || ball.position.y < 313 || ball.position.y > 505) {
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if ((T / 4) % 2) // Switch every 4 cycles
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xiy += 30; // Oscillate downward
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else
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xiy -= 30; // Oscillate upward
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}
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```
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**Oscillation Effects**:
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- Prevents goalie from being static (avoid pinpoint targeting)
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- Increases opponent shooting difficulty (dynamic target harder to aim at)
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- Maintains reaction activity (faster response to sudden threats)
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---
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##### 1.5 Motion Control
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The goalie uses the `Direction()` function for position movement, which implements a **PD controller**:
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```cpp
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void CStrategySystem::Direction(int which, CPoint point) {
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// 1. Calculate target point (extension line strategy, enhance responsiveness)
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point.x = 2 * point.x - robot->position.x;
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point.y = 2 * point.y - robot->position.y;
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// 2. Boundary limits
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point = Limit within field range;
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// 3. Calculate position error and angle error
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dx = point.x - robot->position.x;
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dy = point.y - robot->position.y;
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distance_e = sqrt(dx² + dy²);
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desired_angle = atan2(dy, dx) * 180/π;
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theta_e = desired_angle - robot->angle;
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// 4. PD controller calculates wheel speeds
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vL = 5.0 * (0.1 * distance_e + 0.444 * theta_e);
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vR = 5.0 * (0.1 * distance_e - 0.444 * theta_e);
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// 5. Send velocity command
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Velocity(which, vL, vR);
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}
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```
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**Control Parameters**:
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- **Proportional coefficient (distance)**: 0.1 → Farther distance, faster speed
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- **Proportional coefficient (angle)**: 0.444 → Larger angle deviation, sharper turn
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- **Amplification factor**: 5.0 → Overall speed amplification
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---
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##### 1.6 Special Case Handling
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###### Ball in Front of Goalie
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```cpp
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if (ball.position.x > hgoalie.position.x) {
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Stop(HGOALIE); // Stop moving, save energy, avoid interfering with teammates
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}
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```
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###### Prediction Failure Protection
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When all prediction modes fail (extreme cases), the goalie returns to the goal center on standby:
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```cpp
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if (All prediction modes failed) {
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xix = 965;
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xiy = 409; // Goal center Y coordinate
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}
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```
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---
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##### 1.7 Performance Optimization
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**Computation Optimization**:
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- Use integer arithmetic instead of floating-point (`int(calculation + 0.5)` rounding)
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- Cache `ball.oldPosition`, avoid repeated access
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- Calculate `shooter_pos()` only when needed (conditional trigger)
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**Response Optimization**:
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- Executes every cycle (parallel with other strategies)
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- No decision delay (real-time calculation → immediate execution)
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- Dual-mode prediction (ensures always valid prediction)
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---
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##### 1.8 Technical Highlights
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1. **Multi-mode Fusion**: Trajectory prediction + Threat player prediction, complementary
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2. **Layered Positioning**: X-axis depth + Y-axis horizontal, two-dimensional optimization
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3. **Dynamic Oscillation**: Small-range random movement, increases defensive uncertainty
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4. **Intelligent Filtering**: Only tracks threat players behind the ball, avoids misjudgment
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5. **PD Control**: Smooth motion, avoids jitter and overshoot
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6. **Boundary Protection**: All calculation results undergo boundary checks, ensuring legality
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---
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#### 2. Possession Strategy
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The possession strategy is the most complex module, employing a **dynamic formation system** that automatically selects the optimal formation based on field position and assigns positions to each player through an **intelligent allocation algorithm**.
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##### 2.1 Formation System
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The field is divided into **3×3 = 9 zones**, each corresponding to a specific formation:
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```text
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Field Zones (from our goal to opponent goal):
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┌─────────────┬─────────────┬─────────────┐
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│ Formation 1 │ Formation 4 │ Formation 7 │ Y < 217 (upper)
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│ (L-U Def) │ (C-U Attack)│ (R-U Rush) │
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├─────────────┼─────────────┼─────────────┤
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│ Formation 3 │ Formation 6 │ Formation 9 │ 217-607 (middle)
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│ (L-M Def) │ (Midfield) │ (R-M Rush) │
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├─────────────┼─────────────┼─────────────┤
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│ Formation 2 │ Formation 5 │ Formation 8 │ Y > 607 (lower)
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│ (L-D Def) │ (C-D Attack)│ (R-D Rush) │
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└─────────────┴─────────────┴─────────────┘
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X < 290 290-740 X > 740
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```
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**Formation ID Calculation:**
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```cpp
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int CStrategySystem::fm_id() {
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if (ball.position.x < 290) {
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if (ball.position.y < 217) return 1; // Left-upper
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else if (ball.position.y <= 607) return 3; // Left-middle
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else return 2; // Left-lower
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}
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else if (ball.position.x < 740) {
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if (ball.position.y < 217) return 4; // Center-upper
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else if (ball.position.y <= 607) return 6; // Center-middle
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||||
else return 5; // Center-lower
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}
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else {
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if (ball.position.y < 217) return 7; // Right-upper
|
||||
else if (ball.position.y <= 607) return 9; // Right-middle
|
||||
else return 8; // Right-lower
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
##### 2.2 Central Player Selection
|
||||
|
||||
Each formation has a **central player** (`cp_id()`), serving as the offensive core, responsible for directly chasing the ball. Other players form around the central player.
|
||||
|
||||
**Selection Strategy:**
|
||||
|
||||
- **Offensive formations (1, 2, 7, 8)**: Select player closest to ball with suitable Y coordinate
|
||||
- **Midfield formations (4, 5, 6)**: Select player closest to ball and in front of ball (X > ball.x)
|
||||
- **Special zones**: Near penalty area, prioritize player with closest Y coordinate
|
||||
|
||||
```cpp
|
||||
int CStrategySystem::cp_id() {
|
||||
CPoint cur_pos[10] = { home1.position, ..., home10.position };
|
||||
|
||||
if (fm_id() == 1) { // Left-upper formation
|
||||
// Filter: Only consider players with Y >= ball.position.y
|
||||
Screen qualified players
|
||||
Return closest player ID to ball
|
||||
}
|
||||
// Similar logic for other formations...
|
||||
}
|
||||
```
|
||||
|
||||
##### 2.3 Player Position Assignment
|
||||
|
||||
Uses **layered sorting algorithm** (`fp_sort()`) to assign positions to formation players:
|
||||
|
||||
1. **First layer**: Sort by distance to central player (find nearest players)
|
||||
2. **Second layer**: Sort by relative angle (from top to bottom or left to right)
|
||||
3. **Assignment execution**: Nearest players assigned to nearest formation positions
|
||||
|
||||
##### Example: Formation 6 (Midfield Formation)
|
||||
|
||||
```cpp
|
||||
if (fm_id() == 6) {
|
||||
Direction(cp_id(), ball.position); // Central player directly chases ball
|
||||
|
||||
// Define formation positions (polar coordinate style)
|
||||
pos[1] = CPoint(ball.x + cos(-90°)*20, ball.y + sin(-90°)*20);
|
||||
pos[2] = CPoint(ball.x + cos(90°)*20, ball.y + sin(90°)*20);
|
||||
pos[3] = CPoint(pos[0].x + cos(-45°)*40, pos[0].y + sin(-45°)*40);
|
||||
pos[4] = CPoint(pos[0].x + cos(0°)*40, pos[0].y + sin(0°)*40);
|
||||
pos[5] = CPoint(pos[0].x + cos(45°)*40, pos[0].y + sin(45°)*40);
|
||||
// ... More positions
|
||||
|
||||
// Layered assignment
|
||||
fp_sort(rp); // Sort all players by distance
|
||||
fp_sort(rp, 0, 2); // Sort first 2 by angle
|
||||
Direction(rp[1].id, pos[1]);
|
||||
Direction(rp[2].id, pos[2]);
|
||||
// ... Assign other positions
|
||||
}
|
||||
```
|
||||
|
||||
**Typical Formation Layouts:**
|
||||
|
||||
- **Formation 1/2 (Left Defense)**: Layered defense, formation players distributed to right and front of central player
|
||||
- **Formation 4/5 (Midfield Transition)**: Fan-shaped spread, maintain passing lanes
|
||||
- **Formation 6 (Midfield Circle)**: 360° circular encirclement, adapts to any attack direction
|
||||
- **Formation 7/8 (Right Rush)**: Concentrated forward press, forms shooting threat
|
||||
- **Formation 9 (Penalty Area Attack)**: Adjusts upper/lower focus based on ball's Y coordinate
|
||||
|
||||
---
|
||||
|
||||
#### 3. Penalty Strategy
|
||||
|
||||
The penalty strategy employs a **curved driving algorithm**, achieving arc shooting through differential left-right wheel speed control.
|
||||
|
||||
**Strategy Features:**
|
||||
|
||||
- **Randomness**: Randomly selects upper or lower route shooting (50% probability)
|
||||
- **Two-stage Control**:
|
||||
1. **Approach Stage**: Straight rush toward ball (distance > 21)
|
||||
2. **Shooting Stage**: Curve adjustment, aim at goal corner (distance ≤ 21)
|
||||
|
||||
**Curved Shooting Algorithm:**
|
||||
|
||||
```cpp
|
||||
// Calculate trajectory radius
|
||||
double r = Distance(robot, ball) / (2 * sin(θ))
|
||||
|
||||
// Differential speed control
|
||||
int lw = r / (r + 6) * 127 // Reduce inner wheel speed
|
||||
Velocity(1, lw, 127) // Left slow right fast → Right turn
|
||||
```
|
||||
|
||||
**Target Points:**
|
||||
|
||||
- Upper route: `(28, 313)` - Upper goal corner
|
||||
- Lower route: `(28, 505)` - Lower goal corner
|
||||
|
||||
---
|
||||
|
||||
#### 4. Shot Control
|
||||
|
||||
The shooting system includes multiple overloaded functions, supporting shooting needs in different scenarios.
|
||||
|
||||
##### 4.1 Basic Shot (`shot(int which)`)
|
||||
|
||||
Automatically selects optimal shooting angle, avoids defensive players.
|
||||
|
||||
##### 4.2 Directional Shot (`shot(int which, CPoint t)`)
|
||||
|
||||
Shoots toward specified target point, used for passing or tactical coordination.
|
||||
|
||||
##### 4.3 Direct Shot Control (`shot1(int which, double o, CPoint t)`)
|
||||
|
||||
Lowest-level shooting implementation, precisely controls shooting parameters.
|
||||
|
||||
**Shooting Decision Flow:**
|
||||
|
||||
1. Check shooting conditions (`canshot()`)
|
||||
2. Calculate shooting angle and power
|
||||
3. Adjust robot orientation
|
||||
4. Execute acceleration rush
|
||||
|
||||
---
|
||||
|
||||
### Auxiliary Algorithms
|
||||
|
||||
#### Motion Control
|
||||
|
||||
- **Direction(int which, CPoint point)**: Move toward a point
|
||||
- **Position(int which, CPoint point)**: Precisely move to a point (PD control)
|
||||
- **PositionSE(int which, CPoint point)**: Position without entering penalty area
|
||||
- **Rush(int which, CPoint point)**: Rush toward a point at full speed
|
||||
- **Velocity(int which, int vL, int vR)**: Low-level velocity control
|
||||
|
||||
#### Geometric Calculations
|
||||
|
||||
- **Distance(CPoint p1, CPoint p2)**: Distance between two points
|
||||
- **Angle(CPoint p1, CPoint p2)**: Angle between two points
|
||||
- **atwo(...)**: Calculate angle between two lines
|
||||
|
||||
#### Scenario Detection
|
||||
|
||||
- **Status()**: Determine match state (penalty, freeball, normal)
|
||||
- **search1() / search2()**: Search for robots in specific areas
|
||||
- **shooter_pos()**: Identify opponent shooting threat player
|
||||
|
||||
---
|
||||
|
||||
### Technical Highlights
|
||||
|
||||
1. **Adaptive Formation System**: Automatically switches 9 formations based on 9 field zones
|
||||
2. **Layered Intelligent Assignment**: Distance-angle two-level sorting, ensures optimal player positions
|
||||
3. **Predictive Defense**: Goalie predicts ball trajectory in advance, not passive reaction
|
||||
4. **Penalty Area Avoidance Logic**: `PositionSE` automatically avoids own penalty area, prevents violations
|
||||
5. **Curved Driving Algorithm**: Geometry-based differential speed control, achieves precise arc motion
|
||||
6. **State Machine Architecture**: Clear strategy switching logic, easy to extend and debug
|
||||
|
||||
---
|
||||
|
||||
### Performance Characteristics
|
||||
|
||||
- **Real-time Response**: Completes one decision per cycle (approximately 100ms)
|
||||
- **Concurrent Control**: Simultaneously controls 11 players (10 field players + 1 goalie)
|
||||
- **Robustness**: Supports player loss, communication delay, and other anomalies
|
||||
- **Extensibility**: Modular design, easily add new formations and strategies
|
||||
|
||||
## 📊 Data Structures
|
||||
|
||||
### Robot Data (`Robot1`, `Robot2`, `Robot3`)
|
||||
|
||||
```cpp
|
||||
struct Robot1 {
|
||||
int angle; // Robot angle
|
||||
CPoint position; // Current position
|
||||
CPoint oldPosition; // Historical position
|
||||
BOOL bAlive; // Alive status
|
||||
};
|
||||
```
|
||||
|
||||
### Control Command (`CCommand`)
|
||||
|
||||
```cpp
|
||||
union CCommand {
|
||||
BYTE Stream[3];
|
||||
struct tagData {
|
||||
char Lv; // Left wheel velocity
|
||||
char Rv; // Right wheel velocity
|
||||
char Command; // Control command
|
||||
} Data;
|
||||
};
|
||||
```
|
||||
|
||||
## 🔧 Configuration
|
||||
|
||||
### Field Parameters
|
||||
|
||||
- **Field Dimensions**: See `docs/Field Coordinates.jpg`
|
||||
- **Coordinate System**: Cartesian coordinate system, origin at field center
|
||||
- **Angle Range**: 0-360° (clockwise)
|
||||
|
||||
### Communication Protocol
|
||||
|
||||
- **Protocol Type**: TCP/IP Socket
|
||||
- **Data Format**: Text protocol
|
||||
- **Default Port**: 5001
|
||||
|
||||
## 📄 License
|
||||
|
||||
This project is licensed under the **Noncommercial No-Derivatives Software License 1.0**.
|
||||
|
||||
- ✅ Permitted for non-commercial use and reproduction
|
||||
- ✅ Permitted for academic research and teaching
|
||||
- ❌ Prohibited for commercial use
|
||||
- ❌ Prohibited from distributing modified versions
|
||||
|
||||
For details, see the [LICENSE](LICENSE) file.
|
||||
|
||||
## 🤝 Contributing
|
||||
|
||||
This project currently does not accept external contributions.
|
||||
|
||||
## 🙏 Acknowledgments
|
||||
|
||||
Thanks to all team members for their hard work and to the China Robot Competition Organizing Committee for providing the competition platform.
|
||||
|
||||
---
|
||||
|
||||
<div align="center">
|
||||
|
||||
**Go ATRI! 🏆**
|
||||
|
||||
*Made with ❤️ by ATRI Team*
|
||||
|
||||
</div>
|
||||
@@ -0,0 +1,714 @@
|
||||
<div align="center">
|
||||
|
||||
# ATRI-2024
|
||||
|
||||
***[English](README.en.md)***
|
||||
|
||||
**机器人智能王牌战队 2024 FIRA SimuroSot 11vs11 客户端**
|
||||
|
||||
[](LICENSE)
|
||||
[](https://www.microsoft.com/windows)
|
||||
[](https://docs.microsoft.com/en-us/cpp/mfc/mfc-desktop-applications)
|
||||
|
||||
</div>
|
||||
|
||||
## 📖 项目简介
|
||||
|
||||
ATRI-2024 是由**机器人智能王牌战队**（**A**ce **T**eam of **R**obotics **I**ntelligence，ATRI）开发的 FIRA SimuroSot 11vs11 仿真机器人足球客户端，用于备战 **2024 中国机器人大赛暨 RoboCup 机器人世界杯中国赛**。
|
||||
|
||||
本项目基于 MFC (Microsoft Foundation Classes) 框架开发，实现了完整的机器人足球策略系统，包括球员控制、战术决策、通信协议等核心功能。
|
||||
|
||||
## 👥 团队成员
|
||||
|
||||
**队长：**
|
||||
|
||||
- [@xixu-me](https://github.com/xixu-me)
|
||||
|
||||
**队员：**
|
||||
|
||||
- [@XIAOLingQ](https://github.com/XIAOLingQ)
|
||||
- [@Wx-debug](https://github.com/Wx-debug)
|
||||
- [@moxun333](https://github.com/moxun333)
|
||||
- [@song-yaya](https://github.com/song-yaya)
|
||||
- [@huaxiaoshi](https://github.com/huaxiaoshi)
|
||||
- [@biqianq](https://github.com/biqianq)
|
||||
- [@isWorldEdit](https://github.com/isWorldEdit)
|
||||
|
||||
## ✨ 主要功能
|
||||
|
||||
### 核心模块
|
||||
|
||||
- **策略系统** (`StrategySystem`)：实现球队的战术决策与执行
|
||||
- 守门员策略 (Goalie)
|
||||
- 控球策略 (Possession)
|
||||
- 争球策略 (Freeball)
|
||||
- 罚球策略 (Penalty)
|
||||
- 射门控制 (Shot)
|
||||
- 阵型管理 (Formation)
|
||||
|
||||
- **通信系统** (`AgentSocket`)：与仿真服务器的 Socket 通信
|
||||
- 连接管理
|
||||
- 数据接收与解析
|
||||
- 命令发送
|
||||
|
||||
- **基础代理** (`BaseAgent`)：球员基础行为控制
|
||||
- 运动控制
|
||||
- 位置跟踪
|
||||
- 角度计算
|
||||
|
||||
- **图形界面** (`MicroClientView`)：可视化显示与调试
|
||||
- 实时场地显示
|
||||
- 机器人位置可视化
|
||||
- 策略调试界面
|
||||
|
||||
## 🏗️ 项目结构
|
||||
|
||||
```
|
||||
ATRI-2024/
|
||||
├── src/ # 源代码文件 (.cpp)
|
||||
│ ├── Agentsock.cpp # Socket 通信实现
|
||||
│ ├── BaseAgent.cpp # 基础代理实现
|
||||
│ ├── DSetupDlg.cpp # 设置对话框实现
|
||||
│ ├── MainFrm.cpp # 主框架窗口实现
|
||||
│ ├── MicroClient.cpp # 应用程序主入口
|
||||
│ ├── MicroClientDoc.cpp # 文档类实现
|
||||
│ ├── MicroClientView.cpp # 视图类实现
|
||||
│ ├── StdAfx.cpp # 预编译头源文件
|
||||
│ ├── StrategySystem.cpp # 核心策略系统实现
|
||||
│ └── TParseString.cpp # 字符串解析工具
|
||||
│
|
||||
├── include/ # 头文件 (.h)
|
||||
│ ├── Agentsock.h # Socket 通信接口
|
||||
│ ├── BaseAgent.h # 基础代理接口
|
||||
│ ├── DSetupDlg.h # 设置对话框接口
|
||||
│ ├── General.h # 通用定义与数据结构
|
||||
│ ├── MainFrm.h # 主框架窗口接口
|
||||
│ ├── MicroClient.h # 应用程序主接口
|
||||
│ ├── MicroClientDoc.h # 文档类接口
|
||||
│ ├── MicroClientView.h # 视图类接口
|
||||
│ ├── RESOURCE.H # 资源 ID 定义
|
||||
│ ├── StdAfx.h # 预编译头
|
||||
│ ├── StrategySystem.h # 策略系统接口
|
||||
│ └── TParseString.h # 字符串解析工具接口
|
||||
│
|
||||
├── RES/ # 资源文件
|
||||
│ ├── MicroClient.ico # 应用程序图标
|
||||
│ ├── MicroClient.rc2 # 附加资源
|
||||
│ ├── MicroClientDoc.ico # 文档图标
|
||||
│ └── Toolbar.bmp # 工具栏位图
|
||||
│
|
||||
├── docs/ # 文档
|
||||
│ ├── Contest-Rules-2024.pdf # 2024 赛事规则
|
||||
│ ├── Field Coordinates.jpg # 场地坐标系参考
|
||||
│ └── STRUCTURE.md # 项目结构说明
|
||||
│
|
||||
├── MicroClient.sln # Visual Studio 解决方案文件
|
||||
├── MicroClient.vcxproj # Visual Studio 项目文件 (2010+)
|
||||
├── MicroClient.vcxproj.filters # 项目过滤器
|
||||
├── MicroClient.rc # 资源脚本
|
||||
├── README.md # 项目说明文档
|
||||
└── LICENSE # 许可证文件
|
||||
```
|
||||
|
||||
## 🚀 快速开始
|
||||
|
||||
### 环境要求
|
||||
|
||||
- **操作系统**：Windows 7 或更高版本
|
||||
- **开发工具**：Visual Studio 2010 或更高版本
|
||||
- **框架**：MFC (Microsoft Foundation Classes)
|
||||
- **依赖项**：Windows Sockets API
|
||||
|
||||
### 编译步骤
|
||||
|
||||
1. **克隆仓库**
|
||||
|
||||
```bash
|
||||
git clone https://github.com/xixu-me/ATRI-2024.git
|
||||
cd ATRI-2024
|
||||
```
|
||||
|
||||
2. **打开项目**
|
||||
- 使用 Visual Studio 打开 `MicroClient.sln`
|
||||
|
||||
3. **配置项目**
|
||||
- 确保项目配置为 Release 或 Debug 模式
|
||||
- 检查包含目录和库目录设置
|
||||
|
||||
4. **编译**
|
||||
- 按 `F7` 或选择 **生成 → 生成解决方案**
|
||||
- 编译完成后，可执行文件位于 `Debug/` 或 `Release/` 目录
|
||||
|
||||
### 运行程序
|
||||
|
||||
1. 启动 FIRA SimuroSot 仿真服务器
|
||||
2. 运行编译生成的 `MicroClient.exe`
|
||||
3. 在设置对话框中配置：
|
||||
- 服务器地址（默认：localhost）
|
||||
- 端口号（默认：5001）
|
||||
- 队伍名称
|
||||
4. 点击连接，开始比赛
|
||||
|
||||
## 🎯 策略系统
|
||||
|
||||
### 系统架构
|
||||
|
||||
策略系统（`CStrategySystem`）是本项目的核心模块，负责整个球队的战术决策、阵型调整和球员控制。系统采用**状态机模式**，根据比赛场景动态切换策略，实现了完整的 11vs11 足球机器人智能决策系统。
|
||||
|
||||
#### 主控制流程
|
||||
|
||||
```cpp
|
||||
void CStrategySystem::Action() {
|
||||
T++; // 周期计数器
|
||||
Goalie(); // 守门员策略（持续运行）
|
||||
|
||||
switch (Status()) {
|
||||
case 1: // 罚球状态
|
||||
flag = true;
|
||||
Penalty();
|
||||
break;
|
||||
default: // 正常比赛状态
|
||||
flag = true;
|
||||
Possession(); // 控球策略
|
||||
break;
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
### 核心策略模块
|
||||
|
||||
#### 1. 守门员策略（Goalie）
|
||||
|
||||
守门员策略是防守体系的最后一道防线，采用**多层次预测式防守算法**，结合球的运动轨迹分析、对方射门威胁评估和智能站位调整，实现高效的球门保护。
|
||||
|
||||
---
|
||||
|
||||
##### 1.1 核心架构
|
||||
|
||||
守门员策略在每个周期都会执行（在 `Action()` 中独立于其他策略运行），包含以下核心模块：
|
||||
|
||||
```cpp
|
||||
void CStrategySystem::Goalie() {
|
||||
if (start)
|
||||
ball.oldPosition = ball.position;
|
||||
|
||||
if (ball.position.x <= hgoalie.position.x) {
|
||||
// 球在守门员后方 → 执行防守策略
|
||||
计算目标位置 (xix, xiy)
|
||||
Direction(HGOALIE, CPoint(xix, xiy));
|
||||
}
|
||||
else {
|
||||
// 球在守门员前方 → 停止移动（队友控球）
|
||||
Stop(HGOALIE);
|
||||
}
|
||||
|
||||
ball.oldPosition = ball.position; // 更新历史位置
|
||||
}
|
||||
```
|
||||
|
||||
**关键判断**：仅当球在守门员身后（`ball.position.x <= hgoalie.position.x`）时才启动防守，避免守门员盲目出击。
|
||||
|
||||
---
|
||||
|
||||
##### 1.2 威胁评估系统
|
||||
|
||||
###### 射门威胁球员识别（`shooter_pos()`）
|
||||
|
||||
系统会实时识别对方最具威胁的射门球员：
|
||||
|
||||
```cpp
|
||||
CPoint CStrategySystem::shooter_pos() {
|
||||
// 1. 获取对方 11 个球员的位置
|
||||
CPoint cur_pos[11] = { opponent.position1, ..., opponent.position11 };
|
||||
|
||||
// 2. 过滤：排除球后方的球员（无法射门）
|
||||
for (int i = 0; i < 11; i++) {
|
||||
if (cur_pos[i].x >= ball.position.x)
|
||||
cur_pos[i] = CPoint(-965, -723); // 标记为无效位置
|
||||
}
|
||||
|
||||
// 3. 计算距球最近的对方球员（最具威胁）
|
||||
int threat_id = 0;
|
||||
double min_distance = Distance(cur_pos[0], ball.position);
|
||||
for (int i = 1; i < 11; i++) {
|
||||
if (Distance(cur_pos[i], ball.position) < min_distance) {
|
||||
min_distance = Distance(cur_pos[i], ball.position);
|
||||
threat_id = i;
|
||||
}
|
||||
}
|
||||
|
||||
return cur_pos[threat_id]; // 返回威胁球员位置
|
||||
}
|
||||
```
|
||||
|
||||
**威胁判定逻辑**：
|
||||
|
||||
- 只考虑球前方的对方球员（具备射门能力）
|
||||
- 距离球越近 = 威胁越大
|
||||
- 动态更新，每个周期重新评估
|
||||
|
||||
---
|
||||
|
||||
##### 1.3 位置预测算法
|
||||
|
||||
守门员采用**双模式预测**，根据球的运动状态选择最优预测方式：
|
||||
|
||||
###### 模式 1：轨迹预测（球在运动中）
|
||||
|
||||
当球速足够快且运动方向明确时，使用**线性轨迹外推法**：
|
||||
|
||||
```cpp
|
||||
// 计算球门线（X=965）处的 Y 坐标预测值
|
||||
double dy = ball.position.y - ball.oldPosition.y;
|
||||
double dx = ball.position.x - ball.oldPosition.x;
|
||||
|
||||
// 直线方程：y = kx + b
|
||||
// k = dy/dx, b = y0 - k*x0
|
||||
int xii = (dy/dx) * 965 + (ball.oldPosition.y - (dy/dx) * ball.oldPosition.x);
|
||||
```
|
||||
|
||||
**触发条件**：
|
||||
|
||||
- `Distance(ball.position, ball.oldPosition) >= 1`（球在移动）
|
||||
- `ball.position.x > ball.oldPosition.x`（球朝向我方球门）
|
||||
- `313 <= xii <= 505`（预测点在球门范围内）
|
||||
|
||||
###### 模式 2：威胁球员预测（球静止或预测失效）
|
||||
|
||||
当轨迹预测不可用时，基于**威胁球员与球的连线**预测射门方向：
|
||||
|
||||
```cpp
|
||||
CPoint shooter = shooter_pos(); // 获取威胁球员位置
|
||||
|
||||
// 计算射门线与球门线的交点
|
||||
double dy = ball.position.y - shooter.y;
|
||||
double dx = ball.position.x - shooter.x;
|
||||
int xii = (dy/dx) * 965 + (shooter.y - (dy/dx) * shooter.x);
|
||||
|
||||
if (xii < 313 || xii > 505) {
|
||||
// 预测点在球门外 → 使用加权中心法
|
||||
xiy = (Distance(ball, CPoint(863,313)) * 192 /
|
||||
(Distance(ball, CPoint(863,313)) + Distance(ball, CPoint(863,505)))) + 313.5;
|
||||
}
|
||||
```
|
||||
|
||||
**加权中心法**：当射门线不经过球门时，守门员站在距两个球门柱加权距离的中心点，覆盖更大角度。
|
||||
|
||||
---
|
||||
|
||||
##### 1.4 站位策略
|
||||
|
||||
###### X 轴站位（深度控制）
|
||||
|
||||
```cpp
|
||||
int xix = ball.position.x > 950 ? 965 : 950; // 基础位置
|
||||
int xid = 2; // 前移补偿量
|
||||
|
||||
if (预测 Y 坐标 < 343 || 预测 Y 坐标 > 475) {
|
||||
xix = 965; // 靠近球门线（覆盖球门角）
|
||||
}
|
||||
else {
|
||||
xix = 950; // 前移至 950（扩大防守范围）
|
||||
}
|
||||
```
|
||||
|
||||
**深度分层**：
|
||||
|
||||
- **965**（球门线）：当球朝向球门角时，紧贴球门线防守
|
||||
- **950**（前置位置）：当球朝向球门中部时，前移扩大拦截范围
|
||||
- **动态调整**：根据预测点实时切换
|
||||
|
||||
###### Y 轴站位（横向覆盖）
|
||||
|
||||
```cpp
|
||||
// 轨迹预测模式
|
||||
xiy = (dy/dx) * (xix - xid) + (ball.oldPosition.y - (dy/dx) * ball.oldPosition.x);
|
||||
|
||||
// 威胁球员预测模式
|
||||
xiy = (dy/dx) * (xix - xid) + (shooter.y - (dy/dx) * shooter.x);
|
||||
|
||||
// 边界限制
|
||||
xiy = max(313, min(505, xiy)); // 限制在球门范围内
|
||||
```
|
||||
|
||||
###### 小范围晃动（迷惑对手）
|
||||
|
||||
当球在远端且未形成直接威胁时，守门员会在门线中心小范围左右晃动：
|
||||
|
||||
```cpp
|
||||
if (ball.position.x <= 900 || ball.position.y < 313 || ball.position.y > 505) {
|
||||
if ((T / 4) % 2) // 每 4 个周期切换一次
|
||||
xiy += 30; // 向下晃动
|
||||
else
|
||||
xiy -= 30; // 向上晃动
|
||||
}
|
||||
```
|
||||
|
||||
**晃动效果**：
|
||||
|
||||
- 防止守门员静止（避免被定点打击）
|
||||
- 增加对方射门难度（动态目标更难瞄准）
|
||||
- 保持反应活性（更快响应突发威胁）
|
||||
|
||||
---
|
||||
|
||||
##### 1.5 运动控制
|
||||
|
||||
守门员使用 `Direction()` 函数进行位置移动，该函数实现了 **PD 控制器**：
|
||||
|
||||
```cpp
|
||||
void CStrategySystem::Direction(int which, CPoint point) {
|
||||
// 1. 计算目标点（延长线策略，增强响应性）
|
||||
point.x = 2 * point.x - robot->position.x;
|
||||
point.y = 2 * point.y - robot->position.y;
|
||||
|
||||
// 2. 边界限制
|
||||
point = 限制在场地范围内;
|
||||
|
||||
// 3. 计算位置误差和角度误差
|
||||
dx = point.x - robot->position.x;
|
||||
dy = point.y - robot->position.y;
|
||||
distance_e = sqrt(dx² + dy²);
|
||||
desired_angle = atan2(dy, dx) * 180/π;
|
||||
theta_e = desired_angle - robot->angle;
|
||||
|
||||
// 4. PD 控制器计算轮速
|
||||
vL = 5.0 * (0.1 * distance_e + 0.444 * theta_e);
|
||||
vR = 5.0 * (0.1 * distance_e - 0.444 * theta_e);
|
||||
|
||||
// 5. 发送速度命令
|
||||
Velocity(which, vL, vR);
|
||||
}
|
||||
```
|
||||
|
||||
**控制参数**：
|
||||
|
||||
- **比例系数（距离）**：0.1 → 距离越远，速度越快
|
||||
- **比例系数（角度）**：0.444 → 角度偏差越大，转向越急
|
||||
- **放大系数**：5.0 → 整体速度放大
|
||||
|
||||
---
|
||||
|
||||
##### 1.6 特殊情况处理
|
||||
|
||||
###### 球在守门员前方
|
||||
|
||||
```cpp
|
||||
if (ball.position.x > hgoalie.position.x) {
|
||||
Stop(HGOALIE); // 停止移动，节省能量，避免干扰队友
|
||||
}
|
||||
```
|
||||
|
||||
###### 预测失效保护
|
||||
|
||||
当多种预测模式都失效时（极端情况），守门员会回到球门中心待命：
|
||||
|
||||
```cpp
|
||||
if (所有预测模式都失效) {
|
||||
xix = 965;
|
||||
xiy = 409; // 球门中心 Y 坐标
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
##### 1.7 性能优化
|
||||
|
||||
**计算优化**：
|
||||
|
||||
- 使用整数运算替代浮点数（`int(计算结果 + 0.5)` 四舍五入）
|
||||
- 缓存 `ball.oldPosition`，避免重复访问
|
||||
- 仅在需要时计算 `shooter_pos()`（条件触发）
|
||||
|
||||
**响应优化**：
|
||||
|
||||
- 每个周期都执行（与其他策略并行）
|
||||
- 无延迟决策（实时计算 → 立即执行）
|
||||
- 双模式预测（确保始终有有效预测）
|
||||
|
||||
---
|
||||
|
||||
##### 1.8 技术亮点
|
||||
|
||||
1. **多模式融合**：轨迹预测 + 威胁球员预测，相互补充
|
||||
2. **分层站位**：X 轴深度 + Y 轴横向，二维优化
|
||||
3. **动态晃动**：小范围随机移动，增加防守不确定性
|
||||
4. **智能过滤**：仅跟踪球后方的威胁球员，避免误判
|
||||
5. **PD 控制**：平滑运动，避免抖动和过冲
|
||||
6. **边界保护**：所有计算结果都经过边界检查，确保合法性
|
||||
|
||||
---
|
||||
|
||||
#### 2. 控球策略（Possession）
|
||||
|
||||
控球策略是最复杂的模块，采用**动态阵型系统**，根据球场位置自动选择最优阵型，并通过**智能分配算法**为每个球员分配位置。
|
||||
|
||||
##### 2.1 阵型系统（Formation System）
|
||||
|
||||
场地被划分为 **3×3 共 9 个区域**，每个区域对应特定阵型：
|
||||
|
||||
```text
|
||||
场地分区（从我方门到对方门）：
|
||||
┌─────────────┬─────────────┬─────────────┐
|
||||
│ 阵型 1 │ 阵型 4 │ 阵型 7 │ Y < 217 (上区)
|
||||
│ (左上防守) │ (中上进攻) │ (右上强攻) │
|
||||
├─────────────┼─────────────┼─────────────┤
|
||||
│ 阵型 3 │ 阵型 6 │ 阵型 9 │ 217-607 (中区)
|
||||
│ (左中防守) │ (中场过渡) │ (右中强攻) │
|
||||
├─────────────┼─────────────┼─────────────┤
|
||||
│ 阵型 2 │ 阵型 5 │ 阵型 8 │ Y > 607 (下区)
|
||||
│ (左下防守) │ (中下进攻) │ (右下强攻) │
|
||||
└─────────────┴─────────────┴─────────────┘
|
||||
X < 290 290-740 X > 740
|
||||
```
|
||||
|
||||
**阵型 ID 计算：**
|
||||
|
||||
```cpp
|
||||
int CStrategySystem::fm_id() {
|
||||
if (ball.position.x < 290) {
|
||||
if (ball.position.y < 217) return 1; // 左上
|
||||
else if (ball.position.y <= 607) return 3; // 左中
|
||||
else return 2; // 左下
|
||||
}
|
||||
else if (ball.position.x < 740) {
|
||||
if (ball.position.y < 217) return 4; // 中上
|
||||
else if (ball.position.y <= 607) return 6; // 中中
|
||||
else return 5; // 中下
|
||||
}
|
||||
else {
|
||||
if (ball.position.y < 217) return 7; // 右上
|
||||
else if (ball.position.y <= 607) return 9; // 右中
|
||||
else return 8; // 右下
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
##### 2.2 中央球员选择（Central Player）
|
||||
|
||||
每个阵型都有一个**中央球员**（`cp_id()`），作为进攻核心，负责直接追球。其他球员围绕中央球员布阵。
|
||||
|
||||
**选择策略：**
|
||||
|
||||
- **进攻阵型（1, 2, 7, 8）**：选择距球最近且 Y 坐标符合条件的球员
|
||||
- **中场阵型（4, 5, 6）**：选择距球最近且在球前方（X > ball.x）的球员
|
||||
- **特殊区域**：禁区附近优先选择 Y 坐标最接近的球员
|
||||
|
||||
```cpp
|
||||
int CStrategySystem::cp_id() {
|
||||
CPoint cur_pos[10] = { home1.position, ..., home10.position };
|
||||
|
||||
if (fm_id() == 1) { // 左上阵型
|
||||
// 过滤：只考虑 Y >= ball.position.y 的球员
|
||||
筛选符合条件的球员
|
||||
返回距离球最近的球员 ID
|
||||
}
|
||||
// 其他阵型类似逻辑...
|
||||
}
|
||||
```
|
||||
|
||||
##### 2.3 球员位置分配
|
||||
|
||||
采用**分层排序算法**（`fp_sort()`），为阵型球员分配位置：
|
||||
|
||||
1. **第一层**：按距中央球员的距离排序（找出最近的球员）
|
||||
2. **第二层**：按相对角度排序（从上到下或从左到右）
|
||||
3. **分配执行**：最近的球员分配到最近的阵型位置
|
||||
|
||||
##### 示例：阵型 6（中场阵型）
|
||||
|
||||
```cpp
|
||||
if (fm_id() == 6) {
|
||||
Direction(cp_id(), ball.position); // 中央球员直接追球
|
||||
|
||||
// 定义阵型位置（极坐标方式）
|
||||
pos[1] = CPoint(ball.x + cos(-90°)*20, ball.y + sin(-90°)*20);
|
||||
pos[2] = CPoint(ball.x + cos(90°)*20, ball.y + sin(90°)*20);
|
||||
pos[3] = CPoint(pos[0].x + cos(-45°)*40, pos[0].y + sin(-45°)*40);
|
||||
pos[4] = CPoint(pos[0].x + cos(0°)*40, pos[0].y + sin(0°)*40);
|
||||
pos[5] = CPoint(pos[0].x + cos(45°)*40, pos[0].y + sin(45°)*40);
|
||||
// ... 更多位置
|
||||
|
||||
// 分层分配
|
||||
fp_sort(rp); // 按距离排序所有球员
|
||||
fp_sort(rp, 0, 2); // 前 2 个按角度排序
|
||||
Direction(rp[1].id, pos[1]);
|
||||
Direction(rp[2].id, pos[2]);
|
||||
// ... 分配其他位置
|
||||
}
|
||||
```
|
||||
|
||||
**典型阵型布局：**
|
||||
|
||||
- **阵型 1/2（左侧防守）**：层叠式防守，阵型球员分布在中央球员右侧和前方
|
||||
- **阵型 4/5（中场过渡）**：扇形展开，保持传球路线
|
||||
- **阵型 6（中场圆形）**：360° 圆形包围，适应任意方向进攻
|
||||
- **阵型 7/8（右侧强攻）**：集中前压，形成射门威胁
|
||||
- **阵型 9（禁区进攻）**：根据球的 Y 坐标调整上下侧重点
|
||||
|
||||
---
|
||||
|
||||
#### 3. 罚球策略（Penalty）
|
||||
|
||||
罚球策略采用**曲线行驶算法**，通过控制左右轮速差实现弧线射门。
|
||||
|
||||
**策略特点：**
|
||||
|
||||
- **随机性**：随机选择上路或下路射门（50% 概率）
|
||||
- **两阶段控制**：
|
||||
1. **接近阶段**：直线冲向球（距离 > 21）
|
||||
2. **射门阶段**：曲线调整，对准球门角（距离 ≤ 21）
|
||||
|
||||
**曲线射门算法：**
|
||||
|
||||
```cpp
|
||||
// 计算轨迹半径
|
||||
double r = Distance(robot, ball) / (2 * sin(θ))
|
||||
|
||||
// 差速控制
|
||||
int lw = r / (r + 6) * 127 // 内轮速度降低
|
||||
Velocity(1, lw, 127) // 左慢右快 → 右转
|
||||
```
|
||||
|
||||
**目标点：**
|
||||
|
||||
- 上路：`(28, 313)` - 球门上角
|
||||
- 下路：`(28, 505)` - 球门下角
|
||||
|
||||
---
|
||||
|
||||
#### 4. 射门控制（Shot）
|
||||
|
||||
射门系统包含多个重载函数，支持不同场景的射门需求。
|
||||
|
||||
##### 4.1 基础射门（`shot(int which)`）
|
||||
|
||||
自动选择最优射门角度，避开防守球员。
|
||||
|
||||
##### 4.2 定向射门（`shot(int which, CPoint t)`）
|
||||
|
||||
向指定目标点射门，用于传球或战术配合。
|
||||
|
||||
##### 4.3 直射控制（`shot1(int which, double o, CPoint t)`）
|
||||
|
||||
最底层的射门实现，精确控制射门参数。
|
||||
|
||||
**射门决策流程：**
|
||||
|
||||
1. 检查射门条件（`canshot()`）
|
||||
2. 计算射门角度和力度
|
||||
3. 调整机器人朝向
|
||||
4. 执行加速冲刺
|
||||
|
||||
---
|
||||
|
||||
### 辅助算法
|
||||
|
||||
#### 运动控制
|
||||
|
||||
- **Direction(int which, CPoint point)**：朝向某点移动
|
||||
- **Position(int which, CPoint point)**：精确移动到某点（PD 控制）
|
||||
- **PositionSE(int which, CPoint point)**：不进禁区版本的 Position
|
||||
- **Rush(int which, CPoint point)**：全速冲向某点
|
||||
- **Velocity(int which, int vL, int vR)**：底层速度控制
|
||||
|
||||
#### 几何计算
|
||||
|
||||
- **Distance(CPoint p1, CPoint p2)**：两点间距离
|
||||
- **Angle(CPoint p1, CPoint p2)**：两点间角度
|
||||
- **atwo(...)**：计算两直线夹角
|
||||
|
||||
#### 场景检测
|
||||
|
||||
- **Status()**：判断比赛状态（罚球、争球、正常）
|
||||
- **search1() / search2()**：搜索特定区域的机器人
|
||||
- **shooter_pos()**：识别对方射门威胁球员
|
||||
|
||||
---
|
||||
|
||||
### 技术亮点
|
||||
|
||||
1. **自适应阵型系统**：根据球场 9 个区域自动切换 9 种阵型
|
||||
2. **分层智能分配**：距离-角度二级排序，确保球员位置最优
|
||||
3. **预测式防守**：守门员提前预判球路，而非被动反应
|
||||
4. **禁区规避逻辑**：`PositionSE` 自动规避己方禁区，防止违规
|
||||
5. **曲线行驶算法**：基于几何学的差速控制，实现精确弧线运动
|
||||
6. **状态机架构**：清晰的策略切换逻辑，易于扩展和调试
|
||||
|
||||
---
|
||||
|
||||
### 性能特征
|
||||
|
||||
- **实时响应**：每个周期（约 100ms）完成一次决策
|
||||
- **并发控制**：同时控制 11 个球员（10 个场上球员 + 1 个守门员）
|
||||
- **鲁棒性**：支持球员丢失、通信延迟等异常情况
|
||||
- **可扩展性**：模块化设计，可轻松添加新阵型和策略
|
||||
|
||||
## 📊 数据结构
|
||||
|
||||
### 机器人数据 (`Robot1`, `Robot2`, `Robot3`)
|
||||
|
||||
```cpp
|
||||
struct Robot1 {
|
||||
int angle; // 机器人角度
|
||||
CPoint position; // 当前位置
|
||||
CPoint oldPosition; // 历史位置
|
||||
BOOL bAlive; // 存活状态
|
||||
};
|
||||
```
|
||||
|
||||
### 控制命令 (`CCommand`)
|
||||
|
||||
```cpp
|
||||
union CCommand {
|
||||
BYTE Stream[3];
|
||||
struct tagData {
|
||||
char Lv; // 左轮速度
|
||||
char Rv; // 右轮速度
|
||||
char Command; // 控制命令
|
||||
} Data;
|
||||
};
|
||||
```
|
||||
|
||||
## 🔧 配置说明
|
||||
|
||||
### 场地参数
|
||||
|
||||
- **场地尺寸**：参见 `docs/Field Coordinates.jpg`
|
||||
- **坐标系统**：笛卡尔坐标系，原点位于场地中心
|
||||
- **角度范围**：0-360°（顺时针）
|
||||
|
||||
### 通信协议
|
||||
|
||||
- **协议类型**：TCP/IP Socket
|
||||
- **数据格式**：文本协议
|
||||
- **默认端口**：5001
|
||||
|
||||
## 📄 许可证
|
||||
|
||||
本项目采用 **Noncommercial No-Derivatives Software License 1.0** 许可证。
|
||||
|
||||
- ✅ 允许非商业用途使用和复制
|
||||
- ✅ 允许学术研究和教学
|
||||
- ❌ 禁止商业使用
|
||||
- ❌ 禁止分发修改版本
|
||||
|
||||
详细信息请参见 [LICENSE](LICENSE) 文件。
|
||||
|
||||
## 🤝 贡献
|
||||
|
||||
本项目目前暂不接受外部贡献。
|
||||
|
||||
## 🙏 致谢
|
||||
|
||||
感谢所有团队成员的辛勤付出，以及中国机器人大赛组委会提供的竞赛平台。
|
||||
|
||||
---
|
||||
|
||||
<div align="center">
|
||||
|
||||
**为 ATRI 加油！🏆**
|
||||
|
||||
*Made with ❤️ by ATRI Team*
|
||||
|
||||
</div>
|
||||
Reference in new issue
Block a user