Research On RoboCup Medium-Sized Soccer Robot Goalkeeper Path Planning Method

RoboCup is the robot World Cup.It is an international competition event.RoboCup medium-sized soccer robot is one of the important events of the Robot World Cup soccer championship,which involves robotics,perception and fusion,communication,visual and image processing,reasoning decision-making and machine learning,as a typical multi-agent Collaborative system,robot soccer World Cup provides a landmark and challenging experimental platform for robotics and multi-agent collaboration,providing the impetus for the theoretical development and practical application of artificial intelligence.Path planning is the core issue that all mobile robots must address.It mainly includes:what kind of path to the mobile robot to reach the destination,how much movement in the process of moving,how to avoid obstacles in the process of movement and other issues.In this thesis,RoboCup medium-sized soccer robot system is used as the research platform,and the image data obtained by the robot camera are processed,and the attack and defense situation of the enemy and the enemy are analyzed and prejudged,and the defense of the soccer robot goalkeeper Path to make effective and accurate planning.The thesis is divided into two parts:The first part is image processing.In this paper,an edge detection method based on Adaboost algorithm for multi-operator fusion is proposed to solve the problem that the edge of the image is missing and the edge continuity is poor.Compared with the commonly used edge detection method,the simulation results show that the method not only reduces the loss of image detail,but also improves the continuity of the edge.The second part is the path planning of the soccer robot goalkeeper.In this paper,the path planning method of site partition and improved fuzzy control algorithm is adopted.Based on the results of image processing,the simulation results show that the edge detection method of Adaboost algorithm is used to distinguish the team of soccer robots.The path planning method of site division and improved fuzzy control algorithm is used to plan the goalkeeper.Soccer robot goalkeeper's goalkeeper success rate.