基于滚动窗口的足球机器人传球路径搜索

为了解决足球机器人传球路径的搜索问题，提出了与比赛双方队员控制区域有关的机动圆的概念，并用遗传算法来进行搜索空间较大情况下的传球点的搜索，从而完成了单步传球路径的优化，利用滚动窗口法解决了在实时动态环境下且环境信息无法预测时，足球机器人全程传球路径的搜索．仿真实验和比赛结果证明了该方法的有效性．

Passing-ball route searching of soccer robots based on rolling window

In order to solve the problem of the passing-ball route searching of soccer robots, the concept of the running circle related to the control regions of the soccer players of each team is put forward. The problem of the passing - ball point searching in the case of large searching space is solved with genetic algorithm. So that the optimization of the each step of passing-ball route can be completed. And meanwhile the whole passing-ball route from start point to the end point is searched out based on rolling window in the real-time dynamic environment when the environment information can not be predictive. Experimental results in simulation and vision-based remote brainless soccer robot system prove the method is correct and feasible.