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Behavior Programming of the Goal Keeper Using CABSL


N. Andrey

Semester Thesis, FS14 (SAMA 10339)

One of the crucial players in every football team is the goalkeeper. The keeper is responsible for keeping the ball away from its own goal, prevent the opposing team from scoring and in modern football also initiates a (counter-)attack. In this semester thesis, the goalkeeper for our RoboCup team has been implemented from scratch. For this purpose, CABSL, a language designed to describe an agent’s behavior as a hierarchy of state machines, was used. For every possible state of the keeper, an option describing an action and a transitions was defined and coded. After several tests and changes of the code, we found that the simpler the states, the better the goalkeeper performs. This result led to a final implementation of a very simple but very efficient keeper. Besides the “standard” goalkeeper that will be playing during a normal game, we implemented a second goalkeeper, namely the penalty keeper. By removing some irrelevant states for the penalty-kick situation and tuning some parameters, we were able to design an even simple keeper that performs incredibly well for the penalty-kicks.


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(13)Semester/Bachelor Thesis

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2014:IFA_4759
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