RoboCup视听信息处理策略中粒子滤波定位法的应用

Application of Particle Filter Orientation in the RoboCup Audio-visual Information Processing

在RoboCup仿真组比赛中,仿真模型引入了真实世界的很多复杂特性,使得智能体在场上执行动作时受到限制.首先分析了视觉信息特征和视觉感知噪声模型,在这个基础之上给出了一种视觉信息处理策略,即基于视觉噪声的粒子滤波定位法,最后进行了实验模拟.通过对实验数据的对比分析可以看出,这种视觉信息处理策略能够在Agent内部维护一个相对更为精确的比赛场上的全局模型.

In the RoboCup emulational group tournament, simulation model introduces many complex properties of the real world, making the agents implementation of action restricted. In this article, the characteristics of information and visual perceptual noise model was analyzed firstly. On this basis,a kind of visual information processing strategy, which is particle filter orientation,was given. Finally,through the experimental simulation and comparative analysis of the experimental data,it can be seen that this strategy could help to maitain a better and more accurate overall model for Agent.