基于改进卡尔曼滤波的RoboCup3D定位研究  

Location Research in RoboCup3D Based on Improved Kalman Filter

作　　者：杨帆[1] 王浩[2] 

机构地区：[1]黄山学院国资处,安徽黄山245021 [2]合肥工业大学计算机与信息学院,安徽合肥230009

出　　处：《黄山学院学报》2012年第5期14-16,共3页Journal of Huangshan University

基　　金：黄山学院自然科学研究项目(2007xkj004)

摘　　要：RoboCup3D竞赛中机器人的定位问题一直是研究热点,文章研究了RoboCup3D球队中球员和足球精确定位的问题。通过分析仿真器的视觉误差模型,把卡尔曼滤波及其改进算法应用到HSU3D的Agent中,仿真结果表明经过滤波器滤波后的定位效果较好。The location problem of robots in RoboCup3D is always a focus of research. This paper studies how to locate accurately the players and the football in the match of RoboCup3D. By analyzing the visual error model of the simulator, and applying kalman filter and its improved variant to HSU3D agents, the simulation results show that the location is more effective than before using the filter.

关 键 词：RoboCup3D球队 视觉误差模型 卡尔曼滤波 定位 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]