计算机应用 ›› 2011, Vol. 31 ›› Issue (12): 3315-3317.

• 人工智能 • 上一篇    下一篇

基于强跟踪和H∞滤波计算的足球位置预测算法

杨欢欢,杨宜民   

  1. 广东工业大学 自动化学院,广州 510090
  • 收稿日期:2011-06-13 修回日期:2011-08-08 发布日期:2011-12-12 出版日期:2011-12-01
  • 通讯作者: 杨欢欢

Football position prediction algorithm based on calculation of strong tracking and H∞ filter

YANG Huan-huan1,YANG Yi-min2   

  1. 1. School of Automation, Guangdong University of Technology, Guangzhou Guangdong 510090,China
    2. College of Automation,Guangdong University of Technology,Guangzhou Guangdong 510090,China
  • Received:2011-06-13 Revised:2011-08-08 Online:2011-12-12 Published:2011-12-01
  • Contact: YANG Huan-huan

摘要: 机器人足球在动态的环境中运动,存在未知的外界干扰;比赛过程中,又常常与机器人等障碍物发生碰撞,从而引起运动位置和方向的突变。针对上述情况,提出一种基于强跟踪滤波(STF)和H∞滤波计算的足球位置预测算法。通过引入时变渐消因子,既能提高状态突变的跟踪能力,又能避免对干扰信号做出假设。在中型组机器人足球比赛平台上进行实验,验证了该算法的有效性。

关键词: 机器人足球比赛, 状态突变, 强跟踪滤波, H∞滤波, 位置预测

Abstract: Robot soccer moves in dynamic environment which exists unknown outside interference. In the process of competition, the soccer often collides with obstacles such as robots, thus causing change of position and direction. Aiming at the above, an algorithm based on calculation of strong tracking filter(STF) and H∞ filter is proposed to predict the position of football. By introducing a time-varying fading factor, it can both improve the tracking ability of state mutation and avoid making assumptions on the interference signals. In the middle size league of robot soccer competition platform, experiments were conducted to verify the effectiveness of the proposed algorithm.

Key words: robot soccer competition, state mutation, Strong Tracking Filter (STF), H∞ filter, position prediction

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