关于RoboCup3D仿真系统中守门员关键技术研究  

Research of the Critical Technology of the Goalkeeper in RoboCup3D

作　　者：陈涛[1] 陈业斌[1] 张学峰[1] 

机构地区：[1]安徽工业大学计算机学院,安徽马鞍山243032

出　　处：《宿州学院学报》2014年第3期78-81,85,共5页Journal of Suzhou University

基　　金：安徽省自然科学基金项目"计算机视觉与加速度传感器融合处理的乒乓球轨迹预测方法"(1308085QF113);安徽省高校级自然科学研究重点项目"关于WDM光网络网络负荷的研究"(KJ2013A058)

摘　　要：在RoboCup3D仿真系统中,运用扩展卡尔曼滤波处理仿真环境中的噪音干扰,完成对球的准确定位,为守门员的决策提供准确依据。守门员的决策结果主要包括扑球、跑位、主动出击等行为。通过开发一个GUI调试器来完成扑球动作的设计,根据场上球所处的位置信息设计守门员的跑位策略,并适时主动出击将球破坏掉。仿真实验结果表明,经过改进,守门员的防守能力得到加强,扑球成功率可达到90%以上。An extended kalman filter is used to deal with noise and track the position of the soccer ball in RoboCup3D,therefore provides an accurate basis for the goalkeeper decisions. There are three actions as the de- cision results--diving, positioning and destroying the ball. By developing a GUI debugger, diving motions are designed, and the positioning strategy of goalkeeper is designed according to the location of the ball design. A great many experiments show that the goalkeepers can accomplish the defensive tasks well and the success rate of saving the ball can reach 90% or more. The goalkeepers have shown superb defensive ability.

关 键 词：扩展卡尔曼滤波 扑球 定位 跑位 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]