小型足球机器人综合实训平台设计  

Design of integrated training platform for small soccer robots

作　　者：金亦挺[1] 张宇健 Jin Yiting;Zhang Yujian(School of Computer Science and Technology,Zhejiang University of Technology,Hangzhou,Zhejiang 310000,China)

机构地区：[1]浙江工业大学计算机科学与技术学院,浙江杭州310000

出　　处：《计算机时代》2022年第11期25-28,45,共5页Computer Era

基　　金：浙江省教育厅科研项目(Y202145927);校创新性实验项目(PX-79192766)。

摘　　要：为了提高学生的实践能力,设计了小型足球机器人综合实训平台。该平台由足球机器人本体系统、视觉识别系统、决策调度系统、无线通讯系统和场地配套系统组成,其中单个足球机器人可以实现自动决策、平射挑射、路径规划、自主避障等功能,多个足球机器人还可以实现足球对抗赛。给出了综合实训平台的整体框架,并详细阐述了各个子系统的具体实现,同时给出了几种在实践中表现较好的角球进攻策略、中场预测防守策略和后场盯人防守策略。该平台综合了计算机,电子电路,自动化等学科的内容,有助于相关专业学生更好的理解专业知识,锻炼和提升综合动手能力。In order to improve students'understanding and practical skills,an integrated training platform of small soccer robots is designed.It is composed of multiple soccer robots,the visual recognition subsystem,the decision-making and scheduling subsystem,the wireless communication subsystem,and the venue supporting subsystem.A single football robot can implement the functions such as decision-making,path planning,obstacle avoidance and ball shootings.Multiple soccer robots can also play football matches.The general architecture of the integrated training platform is given,and the design and implementation procedure of each subsystem is described in detail.Besides,based on simulation results,several well-performed team strategies,such as the corner kick offensive strategy,midfield defense strategy and backfield one-on-one defense strategy,are also introduced.In the platform,the contents of computer,electronic circuit,automation and other disciplines are integrated.It provides a great opportunity for students to better understand the professional knowledge,exercise and improve their practical skills and problem-solving abilities.

关 键 词：足球机器人 实训平台 视觉识别 决策调度 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]