Dribble¶
The DribbleToGoal skill dribbles the ball to the goal but tries to avoid obstacles and handles the field border to avoid dribbling outside.
For this purpose, the potential field of the FieldRating representation is used. Based on the last direction, the potential field direction is determined in 1 cm steps in a loop, until a distance of one meter is reached. The end position is then used to calculate the base dribble direction. Afterwards, a sector wheel and the distances to the field border are used to determine the nearest best dribble direction. The potential field and sector wheel usage is shown below.
You can use the following command to see the drawings in the world state whenever the robot is executing the DribbleToGoal skill and is near the ball:
call Drawings/DribbleToGoal
Indirect Kick Rule¶
In case the robot is not allowed to kick at the goal yet, the ball is dribbled towards the opponent penalty mark instead.
Current Problems¶
The skill works quite well, but still has a few short comings:
- Near the opponent goal posts, the resulting directions might lead directly into a goal post.
- Different kick ranges, which the walk kicks support, are not used. The problems comes from the kicks themselves, as they have high range deviations.
- Kicks near the field border are handled by using a minimal distance to the field border. Furthermore, using a minimal angle would reduce the risk of kicking outside even further.