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ZJUNlict became the Small Size League Champion of RoboCup 2019 with 6victories and 1 tie for their 7 games. The overwhelming ability ofball-handling and passing allows ZJUNlict to greatly threaten its opponent andalmost kept its goal clear without being threatened. This paper presents thecore technology of its ball-handling and robot movement which consist ofhardware optimization, dynamic passing and shooting strategy, and multi-agentcooperation and formation. We first describe the mechanical optimization on theplacement of the capacitors, the redesign of the damping system of the dribblerand the electrical optimization on the replacement of the core chip. We thendescribe our passing point algorithm. The passing and shooting strategy can beseparated into two different parts, where we search the passing point onSBIP-DPPS and evaluate the point based on the ball model. The statements andthe conclusion should be supported by the performances and log of games onSmall Size League RoboCup 2019.

Champion Team Paper: Dynamic Passing-Shooting Algorithm Based on CUDA of The RoboCup SSL 2019 Champion