Trajectory Tracking of Soccer Motion Based on Multiobject Detection Algorithm

Abstract

In order to improve the tracking ability of soccer robot in the complicated static and dynamic environment, a method of soccer trajectory tracking based on multiobject detection algorithm is proposed. This method makes use of the advantages of convenient polar coordinate calculation and realistic path simulation and puts the path coding of the soccer robot in two-dimensional polar coordinates. Then, the distance relationship between the current path point, the next path point, and the obstacle point is used to judge whether to carry out path planning. When the obstacle is encountered, the improved PSO algorithm with nonlinear inertia weight is called to carry out path planning. The simulation results show that under two obstacles, when the number of iterations is <math xmlns="http://www.w3.org/1998/Math/MathML" id="M1"> <mi>T</mi> <mo>=</mo> <mn>19</mn> </math> , the soccer robot starts to avoid obstacles and intercept. When iteration number <math xmlns="http://www.w3.org/1998/Math/MathML" id="M2"> <mi>T</mi> <mo>=</mo> <mn>10</mn> </math> , the soccer robot starts to avoid obstacles and intercept side by side. Under multiple obstacles, when <math xmlns="http://www.w3.org/1998/Math/MathML" id="M3"> <mi>T</mi> <mo>=</mo> <mn>19</mn> </math> , the soccer robot starts to avoid obstacles and intercept in front. When <math xmlns="http://www.w3.org/1998/Math/MathML" id="M4"> <mi>T</mi> <mo>=</mo> <mn>30</mn> </math> , the soccer robot reaches the target point. The convergence of the improved PSO algorithm and the effectiveness of path planning are verified.