Penalty kick strategy using two-player collaboration method

In order to improve the match success rate, we proposed a penalty kick strategy based on two-player collaborative shooting method which is used in two different defense patterns. In this strategy, a self-rotation shooting method is applied when the opponent goalkeeper run out to destroy the ball and a reflecting shooting method is used when the goalkeeper stays at the goal line. The SimuroSot 5vs5 Simulation experiments were conducted on the Robot Soccer v1.5a platform. Experimental results show that the proposed method can get a good match success rate.