关键词: RoboCup, 弦割法, 截球

Abstract: The efficiency of the interception affects directly on the result of the soccer match in Robot World Cup. Base on the model of the intercepting soccer, the equation is deduced, then the position of the interception can be calculated with the root of the equation. Obtaining the root of the equation is the critical of improving the efficiency. Effective chord secant method(CSM) was used to determine the root of the quation quickly. Experiments results show that the efficiency of CSM is influenced greatly by the variation of the quation. The shape of the curves affects directly the speed of the convergence of CSM. In order to improve the convergence of CSM, an optimization is needed. Compared with the CSM before optimizing and dichotomy, the result has shown that the integrative effectiveness of the new method is much better. This new method also satisfies the need of the interception speed required in Robot World Cup.

Key words: RoboCup, chord secant method, interception