卡尔曼滤波在机器人足球比赛系统中的应用

在机器人足球比赛系统中使用了卡尔曼滤波．它可以克服视觉传感器采集回来的数据含有的大量噪声，从而准确预报后几个周期小球的速度、加速度和位置．卡尔曼滤波用于线性离散随机系统具有非常好的收敛性和滤除高频噪声的能力．实践证明，此方法对小球的预测比较准确，证明了卡尔曼滤波的可行性和优越性．

Application of Kalman Filter to Centralized Robot-soccer Competition System

To use Kalman filter method in robot-soccer competition system can eliminate noises contained in vision sensor data, so the position, velocity and acceleration of the moving ball at next several cycles can be predicted accurately. Kalman filter used in linear discrete stochastic system has good convergence and the ability to remove high frequency noises. Performance in contests shows that the proposed method can predict position of the ball more precisely, proving the feasibility and superiority of Kalman filter in the system.