基于LWR方法的足球机器人应急策略研究  

Study of the Strategy for Soccer Robot to Meet an Emergency Based on LWR

作　　者：邓星桥[1] 王进戈[1] 肖鹏[1] 张华[1] 

机构地区：[1]西华大学机械工程与自动化学院,四川成都610039

出　　处：《西华大学学报（自然科学版）》2006年第5期10-12,共3页Journal of Xihua University:Natural Science Edition

基　　金：四川省应用基础研究资助项目(0322129);四川省重点学科研究资助项目(SZD425231)

摘　　要：为了解决足球机器人在球的轨迹突然改变后应采取何种处理策略的问题,本文作者应用当地加权回归LWR(Locally Weighted Regression)方法对球的轨迹进行预测,完成了对机器人截球路径的优化。该方法提高了机器人在比赛中的应急能力,仿真实验与比赛结果证明了该方法的有效性。In order to solve the problem of what processing strategy a soccer robot should adopt when a ball experiences a sudden change in its moving track,the authors estimate the track of the ball using the method of LWR(Locally Weighted Regression) so that the optimization for the path of cutting the ball can be completed.And meanwhile the ability of a robot to deal with the emergency circumstances can be enhanced in a game.Experimental results in simulation and vision based on remote brainless soccer robot system prove that the method is correct and feasible.

关 键 词：足球机器人 LWR 轨迹预测 截球路径 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]