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在本文中,为了能在双足机器人足球比赛中提高守门员的防守能力,我们提出了一种基于光流法的双足机器人守门策略方法,通过该方法使得守门员可以更好的判断足球的运动轨迹并实施拦截。实验中采用 Webots 仿真平台,NAO 机器人为守门机器人,首先通过 NAO 对运动的足球进行图片采集,然后使用 Opencv 进行 Lucas-Kanade 光流运算得出足球的运动轨迹,最后微调控制 NAO 进行拦截;实验结果显示该方法使得 NAO 机器人对球的防守成功率可达到 85%左右。
In this paper, in order to improve the goalkeeper’s defensive ability in biped robot football game, we propose a method of goalkeeping strategy of biped robot based on optical flow method. By this method, the goalkeeper can better judge the trajectory of soccer ball And implement interception. In this experiment, the Webots simulation platform is used. The NAO robot is a gatekeeper robot. Firstly, NAO is used to capture images of the moving soccer ball. Then Lucas-Kanade optical flow is used to calculate the trajectory of the soccer ball using Opencv. Finally, the NAO robot is intercepted finely. This method shows that NAO robot can achieve a defensive success rate of about 85% on the ball.