乒乓球机器人核心算法研究综述  

Review of the Research on the Core Algorithm of Table Tennis Robot

作　　者：索芳菲 季云峰[2] SUO Fangfei;JI Yunfeng(School of Health Science and Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China;Institute of Machine Intelligence,University of Shanghai for Science and Technology,Shanghai 200093,China)

机构地区：[1]上海理工大学健康科学与工程学院,上海200093 [2]上海理工大学机器智能研究院,上海200093

出　　处：《电子科技》2023年第12期16-24,共9页Electronic Science and Technology

基　　金：国家自然科学基金(62003214);上海市浦江人才计划(2019PJD035);上海市人工智能创新发展专项(2019RGZN01041)。

摘　　要：作为一个集机器视觉与运动控制于一体的综合性研究平台,乒乓球机器人研究一直备受关注,其机械机构、视觉算法和运动控制的复杂性以及高实时性是阻碍乒乓球机器人发展的重要因素。为了提高乒乓球机器人的竞技性,需要解决乒乓球旋转测量、运动轨迹精确预测及击球策略选择等难题,这也是近几年乒乓球机器人的研究重点。基于近年来此领域的研究进展,文中对乒乓球机器人的视觉核心算法、回球核心算法等研究成果进行着重介绍,分析不同算法的优缺点并对未来研究趋势进行展望,为乒乓球机器人的研究与设计提供了参考依据。As a comprehensive research platform integrating machine vision and motion control,the research of table tennis robot has always attracted much attention.The complexity and high real-time of its mechanical mechanism,visual algorithm and motion control are important factors hindering the development of table tennis robot.In order to improve the competitive ability of table tennis robot,it is necessary to solve the problems of table tennis rotation measurement,accurate prediction of movement trajectory and selection of hitting strategy,which is also the focus of the research of table tennis robot in recent years.Based on the research progress in this field in recent years,this study focuses on the research results of table tennis robot vision core algorithm and ball return core algorithm,analyzes the advantages and disadvantages of different algorithms and prospects the future research trend,so as to provide a reference for the research and design of table tennis robot.

关 键 词：乒乓球机器人 轨迹预测 击球策略 深度学习 强化学习 旋转测量 视觉算法 碰撞模型 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] G84[自动化与计算机技术—控制科学与工程]