卡尔曼滤波在足球机器人轨迹生成中的应用研究

Research of Applying Kalman Filters to Soccer Robot′s Track Creation

在足球机器人比赛过程中,研究如何让机器人比赛过程中不碰到对方机器人的前提下到达指定位置轨迹生成是非常具有现实意义的,而位置预测又是其中的关键性技术。传统简单预测法由于精度不高而影响比赛成绩,采用卡尔曼滤波预测法提高了足球机器人的位置预测精度,很好地解决了这一难题。

It is very import in a process of Soccer robot game that research of how a robot would arrive at designate position while it couldnPt collide with other robots, this technique is called position forecast. On this question,traditional method always affect the game＇s result because of its lower precision. In this article, the way of applying Kalman filters forecast will solve this question and improve the position- forecast precision.