摘要
为了提高多机器人协作进攻的效率,提出了一种改进的直冲射门算法。对球的运动信息进行分析,预测出射门击球点的坐标,并使用最小二乘拟合法计算出机器人的运动方程。将球运动到击球点花费的时间代入运动方程,其解作为射门时机预判的条件。实验结果表明,与原算法相比改进的直冲射门算法在传球球速较快的情况下也能保证较高的击球率和成功率,使多机器人协作进攻的成功率明显提高。
To enhance the efficiency of the multi-robot collaborative attack , an improved strike shooting algorithm is proposed. Firstly, the coordinate of kicking point is predicted by analyzing the moving information of ball, and the motion equation of robot is calculated by the least squares fitting method. Then, the time taken by ball moved to kicking point is substituted into motion equation. The solution of equation is used to judge the timing of shooting. The results show that the improved strike shooting algorithm can ensure a higher shooting success rates than traditional algorithm under the condition of passing with high speed, so that the success rates of muhi-robot collaborative attack is improved.
出处
《计算机工程与设计》
CSCD
北大核心
2013年第11期4077-4080,F0003,共5页
Computer Engineering and Design
基金
西安市科技计划基金项目(CX12184(2))
关键词
协作进攻
直冲射门
射门击球点
最小二乘拟合
运动方程
collaborative attack
strike shooting
kicking point
least squares fitting method
motion equation
