The current behavioral system at B-Human already implements a recognition that specifies when the ball position is assumed to be unknown. If this is the case, it automatically switches to the behavioral part described in this report, which implements the finding of an unknown ball. Each robot uses its own local grid of the field. To ensure that the whole field is covered without communicating, the Voronoi regions are used. Each robot uses only the part of the grid that lies within its own Voronoi region. This ensures that the entire field is covered to find the ball efficiently. The cell to look at next is determined by multiplying the priority and the difference between the timestamp of the last time the cell was looked at and the current system timestamp. The grid continues to be updated by the robot. This has the effect that the robot completely searches its own Voronoi region.
During the RoboCup 2023 in Bordeaux, B-Human used this module to find the ball in case of an unknown ball position. However, the module was only used in normal play, i.e. not in any standard situations. The exception is the standard situation kickIn. Here, the implementation was also used. The ball was recovered in an average time of 2.873 seconds. This results in a success rate of 100%.
The ball search works quite well, but some aspects still need to be adjusted: - The runtime of the module can still be minimised. - The behaviour of this ball search can also be used in standard situations, the basics are already there, it has to be checked whether the use of the grid-based search brings an advantage over the current behavior