ZJUNlict Extended Team Description Paper
Small Size League of Robocup 2023
Zheyuan Huang, Chenrui Han, Ning Shen, Jialei Yang, Jiazheng Yu, Anke
Zhao, Zhike Chen, Haozhe Du, Licheng Wen, Yunkai Wang, Dashun Guo, and
Rong Xiong
State Key Lab. of Industrial Control Technology
Zhejiang University
Zheda Road No.38, Hangzhou
Zhejiang Province, P.R.China
rxiong@iipc.zju.edu.cn
Abstract.
This paper mainly describes the work of the ZJUNlict team
in the past three years, including hardware and software. In the hardware
part, we did some exploratory work and redesigned the v2023 robot. In
the software part, we have made improvements based on the 2019 strat-
egy, including a new passing candidate points algorithm, a new break-
through skill, and a parameter optimization module that improves the
intelligence of our system. At the end of this article, we provide a brief
summary of the work that has guided the development of the Small Size
League competition in China in recent years during the epidemic.
1
Introduction
ZJUNlict is a team mainly composed of undergraduates and we have been par-
ticipating in the competition since 2004. This paper presents our related work
since 2019.
In the hardware part, we made some valuable attempts, and selected the
compatible and stable parts to complete the design of the v2023 robot. Part of
our circuit design refers to the open source of the team TIGERs [2].
In the software part, our previous work, especially the strategy part, proved
to be effective in the 2019 competition. So we optimized the architecture on this
basis, and expanded some modules. We have rewritten the pass point calculation
module, and the performance is greatly improved. In the strategy selection, a
single robot breakthrough with the ball is added to solve the lag occurred when
the ball fails to be passed in the previous game. Finally, in order to reduce
the difficulty of debugging a large number of parameters in the entire strategy
framework, we added a parameter optimization module so that parameters can
be self-tuned based on online feedback.
ZJUNlict team has not participated in international competitions since the
Sydney competition in 2019, but we have not stopped working. In the past
three years, we have organized and participated in 6 provincial and national
competitions, including an online competition, with more than 20 participating
college teams. We introduce this part of the work in detail in Section 4.