基于强跟踪和H~∞滤波计算的足球位置预测算法  

Football position prediction algorithm based on calculation of strong tracking and H~∞ filter

作　　者：杨欢欢[1] 杨宜民[1] 

机构地区：[1]广东工业大学自动化学院,广州510090

出　　处：《计算机应用》2011年第12期3315-3317,共3页journal of Computer Applications

摘　　要：机器人足球在动态的环境中运动,存在未知的外界干扰;比赛过程中,又常常与机器人等障碍物发生碰撞,从而引起运动位置和方向的突变。针对上述情况,提出一种基于强跟踪滤波(STF)和H∞滤波计算的足球位置预测算法。通过引入时变渐消因子,既能提高状态突变的跟踪能力,又能避免对干扰信号做出假设。在中型组机器人足球比赛平台上进行实验,实验结果表明该算法能够更准确地预测足球的位置。Robot soccer moves in dynamic environment where some unknown outside interference exists.In the process of competition,the soccer often collides with obstacles such as robots,thus causing change of position and direction.Therefore,an algorithm based on calculation of Strong Tracking Filter（STF） and H∞ filter was proposed to predict the position of football.By introducing a time-varying fading factor,it can both improve the tracking ability of state mutation and avoid making assumptions on the interference signals.In the middle size league of robot soccer competition platform,experimental result shows the position of football can be predicted more accurately by the proposed algorithm.

关 键 词：机器人足球比赛 状态突变 强跟踪滤波 H∞滤波 位置预测 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]