Target tracking method and system of football robot

A football robot and target tracking technology, applied in the field of football robot target tracking method and system, can solve the method and system of football robot target tracking, single robot motion control or target tracking, without considering robot delay, communication, etc.

CN103345258AInactive Publication Date: 2013-10-09XIAN UNIV OF SCI & TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2013-10-09
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses a target tracking method and system of a football robot. The target tracking method of the football robot comprises the following steps of (1) building a motion model of the football robot, (2) carrying out discretization on the motion model of the football robot to obtain a state equation of the football robot, (3) building a measurement model of the football robot, (4) building a filtering probability distribution model of a state variable xk-1 of the football robot at the time of k-1, (5) updating measurement, (6) updating prediction, (7) estimating the optimized estimated value of a state variable xk+1 of the football robot at the time of k+1, and (8) tracking a target. The target tracking system of the football robot comprises a data processor, a data storage card, a serial port communication module, a wireless communication module, an omni-directional visual module, an intelligent power module, a motion control card, a motor driving circuit module, a motor, a motor encoder and a football robot training machine. The target tracking method and system of the football robot are reasonable in design, simple and convenient to use and operate, convenient to realize, capable of rapidly and accurately tracking the target of the football robot, high in practicability, good in use effect, and high in popularization and application value.
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Description

technical field

[0001] The invention belongs to the technical field of robot vision, and in particular relates to a soccer robot target tracking method and system. Background technique

[0002] As a typical multi-agent system, the football robot system provides a good experimental platform for the research of intelligence theory and the integrated application of various technologies. The capability requirements are getting stronger and stronger, which involves a series of research topics such as robot positioning, path planning, coordinated control, target tracking and decision-making.

[0003] The main task of robot target tracking is to accurately and quickly track the state of the target object and the control object provided by the upper decision-making system, including the position and orientation of the target object and the control object, in an environment with obstacles, taking into account the delay of the system Estimate the state of the target object and the co...

Examples

Embodiment Construction

[0082] Such as figure 1 As shown, the soccer robot target tracking method of the present invention, the soccer robot is a three-wheeled omnidirectional soccer robot that constitutes a motion mechanism by three omnidirectional wheels, and the method comprises the following steps:

[0083] Step 1, using data processor 1 to establish the motion model of the football robot under the coordinates of the football field:

[0084]

[0085] Among them, S x is the displacement of the football robot in the X-axis direction on the football field, S y is the displacement of the football robot in the Y-axis direction on the football field, Φ is the rotation angle of the football robot on the football field, (S x ,S y , Φ) is the pose information of the soccer robot; R is the radius of the omnidirectional wheel, θ is the movement speed v of the soccer robot along the x-axis direction of the soccer robot coordinates x The angle between the X-axis and the coordinates of the football fiel...