Research On Goalie Control For Robot Soccer Competition System

Robot soccer competition is a new challenge in artificial intelligence, which involves artificial intelligence, robotics, digital communications, sensors and other fields of frontier research and technology integration. It is a standard of high-tech experiment platform. Its theory and technology can be applied in practice field, such as industry, agriculture, national defense, medical, education practice field and so on, and effectively promote the development of science, technology and economy. Therefore, the research on robot soccer competition is very challenging and has a high value of the theoretical study and practical application.In this dissertation, the research object is the goalie of the RoboCup middle-size league robot soccer competition system. We study the following three aspects:ball state prediction, goalie stance and goalie speed control.The main contents of this dissertation include:1. Ball state prediction.Based on the mathematical basis, the ball's motion model is deduced, we use the least square method to predict the ball's motion state, considering that original motion model have large prediction error in the actual venue, we introduce friction factor, and improve the ball's state prediction model.The experiments show that new motion model makes a very good prediction effect.2. Goalie stance.Firstly introduces the general flow goalie defense, and then analyzes the advantages and disadvantages of traditional stance methods, this dissertation proposes a new stance method, which is named other forward and the ball stance method. The new stance method includes the movement of other forward and the ball. The experiments show that new stance method has greatly increased the success rate of goalie defense.3. Goalie speed control. Plans the goalie's movement speed in the process to target point, analyzes the shortages of the speed control algorithm based on geometric calculation, proposes the new speed control algorithm based on BP neural network, using a speed 3-sectional planning, the goalie's speed exactly reduced to zero when it arrives at the target. This algorithm overcomes the shortage that ball arrives at the target earlier than the goalie, resulting in failure of defense. The simulation results show that the new method is feasible and effective.Finally, the full text of dissertation is summarized. It points out the main research results, and also shortcomings and problems which need to be further studied.