| 仿真机器人足球比赛中的射门策略 |
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| 引用本文： | 张彦铎,王朝亮,闵锋,李迅.仿真机器人足球比赛中的射门策略[J].武汉工程大学学报,2012,34(10):62-65. |
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| 作者姓名： | 张彦铎 王朝亮 闵锋 李迅 |
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| 作者单位： | 武汉工程大学计算机科学与工程学院,湖北武汉430074;智能机器人湖北省重点实验室,湖北武汉430074 |
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| 摘 要： | 针对机器人足球传统射门策略存在射门成功率不高的情形,对FIRA机器人足球五对五仿真平台(SimuroSot 5vs5)中实体的运动规律进行了分析,提出了预测法射门策略.首先建立了机器人的变速运动模型和球在碰撞之后的运动模型,然后根据这些运动模型,实时地对机器人和球的速度及位置进行分析预测,寻找对方守门员的死角,确定最佳的射门区域.通过仿真实验,预测法射门策略与多人协作射门策略、死角法射门策略、基于艾米特插值(Her mite)曲线射门策略相比,明显提高射门的成功率和比赛进球数.
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| 关 键 词： | 仿真平台 运动模型 射门策略 机器人足球 |
Shooting strategy of simulation robot soccer |
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| Authors: | ZHANG Yan-duo WANG Chao-liang MING Feng LI Xun |
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| Affiliation: | 1,2(1.School of computer science and engineering,Wuhan Institute of Technology,Wuhan 430074,China; 2.Hubei Province key Laboratory of Intelligent Robot,Wuhan Institute of Technology,Wuhan 430074,China) |
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| Abstract: | To improve the successful rate of soccer robot shooting in a robot soccer match,a predictive shooting strategy was proposed on the basis of analyzing the motion law of the entity in the FIRA SimuroSot 5vs5 simulation platform.First,a variable motion model and a motion model after the ball collision of robot were established.Then according to these motion models,we had a forecast about the speed and position between the robot and the ball in real-time,and looked for the dead angle of the other goalkeeper to determine the best shooting area.The result of simulation indicates the predictive shooting strategy obviously increase the successful rate of shooting and game goals compared with the cooperation shoot strategies,the shot dead angle strategy and the shooting strategy based on the Her mite curve. |
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| Keywords: | simulation platform motion model shooting strategy robot soccer |
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