摘要
在机器人世界杯足球锦标赛(TheRobotWorldCup,简称RoboCup)中,截球效率直接影响到比赛的结果。通过足球截球模型,建立方程,从而求出截球位置。解方程的根是提高截球效率的关键,本文采用高效的弦割法来快速计算方程的根。试验发现方程曲线的变化对弦割法解方程根的效率有很大影响,曲线的形状直接影响了弦割法的收敛速度。为加速收敛性,对弦割法进行了优化。最后与优化前的弦割法以及二分法进行了比较,结果表明优化后整体性更为高效,很好地满足了比赛的要求。
The efficiency of the interception affects directly on the result of the soccer match in Robot World Cup. Base on the model of the intercepting soccer, the equation is deduced, then the position of the interception can be calculated with the root of the equation. Obtaining the root of the equation is the critical of improving the efficiency. Effective chord secant method(CSM) was used to determine the root of the quation quickly. Experiments results show that the efficiency of CSM is influenced greatly by the variation of the quation. The shape of the curves affects directly the speed of the convergence of CSM. In order to improve the convergence of CSM, an optimization is needed. Compared with the CSM before optimizing and dichotomy, the result has shown that the integrative effectiveness of the new method is much better. This new method also satisfies the need of the interception speed required in Robot World Cup.
出处
《计算机应用》
CSCD
北大核心
2005年第8期1858-1860,共3页
journal of Computer Applications
关键词
ROBOCUP
弦割法
截球
<Keyword>RoboCup
chord secant method
interception
