Analysis of the PSO Parameters for a Robots Positioning System in SSL

The changes in the Small Size League rules have brought greater possibilities of playing. With the increased complexity of soccer matches, the positioning of the robots has become important as a defense and attack mechanism. The learning of opposing team game playing has been shown to be effective, but an SSL soccer match indicates the need for solutions that analyze the strategy of the opposing team during the game and make any necessary adaptations. This paper proposes the use of the Particle Swarm Optimization (PSO) algorithm as an option to determine the positioning during the match. A prototype has been developed to validate the configuration parameters. Experiments in a simulator, analysis of game logs and results in a real matches have demonstrated the feasibility of applying the PSO algorithm to find the robots positions.