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