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Method for improving soccer robot shooting efficiency

A football robot and robot technology, applied in two-dimensional position/lane control and other directions

Inactive Publication Date: 2015-03-25
SHENYANG INSTITUTE OF CHEMICAL TECHNOLOGY
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Problems solved by technology

[0003]In the currently used shooting algorithms, most of the algorithms rarely take into account the influence of motion control algorithms on the planning of the shooting path, and the shooting path is limited to the local area of ​​the football field. At the same time, the smoothness of the robot's shooting trajectory is not good, and the algorithm adopted is also relatively complicated and takes a long time to run.

Method used

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  • Method for improving soccer robot shooting efficiency
  • Method for improving soccer robot shooting efficiency
  • Method for improving soccer robot shooting efficiency

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Experimental program
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Embodiment

[0026] Robot soccer is a new research field of artificial intelligence, which integrates technologies in multiple fields such as real-time vision system, robot control, wireless communication, and multi-robot control. One of the key factors for a team to win.

[0027] 1 Experimental environment

[0028] This topic uses the figure 1 Shown robot soccer game system: centralized control type miniature robot soccer system. in the middle is a piece The wooden playing field has a white center line, center circle, penalty area and goal area, etc. on the field, which are similar to football games on the green field. The experimental robot is a size robot car. The target is an orange golf ball.

[0029] Hardware configuration: 2 BASLER 1394 digital cameras, 2 1394 transmission lines, 2 lenses, 2 1394 digital interface cards, 1 robot car, 1 set of wireless transmitter, 1 game ball, 12-way charger

[0030] Software configuration: camera driver program, robot car tracking footb...

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Abstract

The invention relates to a robot control method, in particular to a method for improving soccer robot shooting efficiency. The method comprises the steps that path planning of a shooting algorithm is carried out, a robot adjusts the pose to be in the shooting state along a smooth trajectory, a shooting target point is selected from coordinates of the goal line of the opposite side, and the shooting process is completed according to an arc path; a centralized control type micro-robot soccer system is selected as a robot soccer game system; a digital camera, a transmission line, a lens, a digital interface card, a robot car, a wireless transmitting device, an official ball and a charger are configured; a physical model of a ball motion curve is adopted for a shooting process basic shooting algorithm; an equation is built according to a shooting model, and the shooting equation about time is built according to the physical model, wherein the equation is that F(x)=G(x)-x; a camera drive program and a robot car tracking soccer program are configured for software. According to the experiment showing result and simulated analysis, the correctness and superiority of the algorithm are verified, and the shooting efficiency is effectively improved.

Description

technical field [0001] The invention relates to a method for controlling a robot, in particular to a method for improving the shooting efficiency of a soccer robot. Background technique [0002] Robot soccer is a new research field of artificial intelligence, which integrates technologies in multiple fields such as real-time vision system, robot control, wireless communication, and multi-robot control. One of the key factors for a team to win. [0003] Among the currently used shooting algorithms, most of the algorithms rarely take into account the influence of motion control algorithms on the planning of the shooting path, and the shooting path is limited to the local area of ​​the football field. At the same time, the smoothness of the robot's shooting trajectory is not good, and the algorithm used is relatively complicated. , which takes longer to run. Aiming at the shortcomings of the above-mentioned shooting algorithm, the shooting algorithm in the literature is impr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 刘欢王健王庆辉李金凤郭烁张琳琳
Owner SHENYANG INSTITUTE OF CHEMICAL TECHNOLOGY
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