Target tracking method and system of football robot

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.

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...

AI Technical Summary

Problems solved by technology

[0004] In terms of target tracking, researchers have proposed many algorithms, such as ant colony algorithm, potential field method, genetic algorithm, etc. These algorithms theoretically realize the target tracking of robots in specific models, but do not take into account the real environment There is still a certain distance from the actual application due to external interference and the limitation of the robot's own delay and communication conditions.

For example, the Chinese patent application number 201120313058.3 discloses a binocular vision navigation system for an indoor mobile robot, which adopts a global infrared vision positioning method and combines sensor information to achieve high-precision positioning and navigation of an indoor soccer robot. Navigation, but it is only suitable for situations where obstacles are fixed and the environment is relatively stable, and a single robot operates; the Chinese patent application number 201220043504.8 discloses a mobile robot target tracking platform with a network camera, which is low-cost, portable Strong mobile robot target tracking platform with QuickCam network cameras with sufficient computing power and a certain number of sensors; Chinese patent application number 200810119587.2 discloses a robot target tracking method based on feasible channels, which enables the robot to use its own vision, ultrasound The information provided by the infrared sensor and the code disc realizes the non-collision tracking of the target in the environment of static obstacles; the Chinese patent application number 200810184912.3 discloses a welding robot, which provides a welding robot for double-wire welding seam tracking Method; the Chinese patent application number 200710060125.3 discloses a method for robots to search for odor sources autonomously in an indoor environment

However, from the existing patents, most of them are under fixed environment or obstacle conditions, the motion control or target tracking of a single robot, and there is no method and system that can be applied to soccer robot target tracking.

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