Formation Analysis Of RoboCup Simulation 2D Based On Delaunay Triangulation

RoboCup(Robot World Cup), is robot soccer World Cup, which involves artificial intelligence, robotics, communications, sensing and frontier research on technology integration etc.. 2D simulation as one of the traditional project of RoboCup, the game requires efficient overall cooperation between the teams and players, because the team formation based on the architecture, and each player agent make decision based on formation, formation is one of important factor in the team construction. Therefore, analysis the team formation, understand the opponent and make tactical arrangements, this decision has great significance to the game.Firstly, this paper introduce the internal and external RoboCup 2D simulation project development and research direction briefly, analysis present situation and significance of the research in the formation.Secondly, based on the introduction of the RoboCup 2D simulation platform operation mechanism, further study and research of the formation. Analysis the formation editing tools Fedit2's defect from human football formation, which is unable to analyze the position of the players in different regions in the whole course arrangement from the perspective of global and contrast way. Based on this, puts forward a new system analysis method.Finally, the Delaunay triangulation is an important concept in geometric calculation. The innovation of this paper is propos a new model with player run by using Delaunay triangulation. Focus on the famous team in the world, they are Agent2D_Base, Gliders2014, Helios2014, Marlik2012. Find the difference between the formation by the formation file data extraction, and use Matlab tool to display the player in the diagram directly with the Delaunay triangulation. In the picture, we could contrast and analysis the rationality of player movement directly.In this paper, design simulation experiment of analysis formation, and the analysis conclusion of the research is using in the development of Anhui University of Techology's team YuShan2 D. By the test of actual combat in RoboCup World Cup finals, China open, Iran open and Anhui Provincial tournament, the formation analysis method used in this paper is effective, and lay a good foundation for further realization of online real-time analysis of the formation.