Offensive formation strategy and control algorithm in SimuRoSot (simulation of soccer robot)

Section 1 of the full paper presents Fig. 1 as the block diagram of our offensive formation strategy and control algorithm in SimuRoSot. Section 2 explains how to establish our offensive formation strategy and control algorithm in SimuRoSot. Subsection 2.1 presents Fig. 2 as the flow chart for selecting the offensive formation; in Fig. 2, Case 1 is the "3+1" formation. Subsection 2.2 gives a nine-step procedure for working out part of the algorithm for the "3+1" formation. Subsection 2.3 presents Fig. 4 as the block diagram for task control and formation coordination; "Adjust" at the bottom of Fig. 4 is particularly important, particularly its self-adjusting unlocking feature; subsection 2.4 discusses this unlocking feature in some detail. Section 3 gives an example dealing with six soccer indices for comparing our new strategy with the original one. The results of comparison are listed in Table 1. These results show preliminarily that: (1) the number of shooting times increases by 3.25 per game; (2) the rate of successful shooting without second trial increases from 21.0% to 25.2%; (3) the number of dead chick times increases by 1.02 per game; (4) the dead chick successful rate increases from 5.7% to 12.1%; (5) the number of interception times in front court increases from 2.23 to 6.73 per game; (6) the rate of possession increases from 40% to 60%.