使用Webots的人形足球运动员的行为控制

CONIELECOMP 2011, 21st International Conference on Electrical Communications and Computers Pub Date : 2011-04-11 DOI:10.1109/CONIELECOMP.2011.5749380

J. Zannatha, L. E. Medina, Rafael Cisneros Limón, Pedro Mejía-Alvarez

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引用次数: 8

摘要

本文根据国际机器人世界杯联合会制定的现行规则，设计了一种人形足球运动员的行为控制系统。重要的是要指出，这项工作只涉及场上球员，不包括守门员。行为控制建模为有限状态自动机，包括视觉感知(自我定位、球定位、运动估计)、行为控制和博弈策略等活动。所开发的系统在机器人世界杯RobotStadium联赛官方仿真平台Webots中实现。结果表明，已开发的系统在我国类人足球运动员中有待进一步完善。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Behavior control for a humanoid soccer player using Webots

In this paper the behavior control system developed for a humanoid soccer player is presented, according to the current rules established by the International RoboCup Federation. It is important to point out that this work deals only with field players, excluding the goalkeeper. The behavior control is modeled as a finite-state automaton, which comprises activities as: visual perception (self localization, ball localization, movement estimation), behavior control and game strategies. The developed system is implemented in Webots, which is the official simulation platform used in the RobotStadium league of RoboCup. The results obtained are shown and the path to improve the developed system in our humanoid soccer players is established as future work.

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CONIELECOMP 2011, 21st International Conference on Electrical Communications and Computers

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