Application of extended Kalman filter algorithm in intelligent robot soccer competition

ZHAO Xiao，WANG Ming，LI Xiao-ming
（Faculty of Mechanical Engineering & Automation， Zhejiang Sci-Tech University， Hangzhou 310018，China）

Abstract： In order to reduce the system latency affection on the high real-time robot soccer competition，a kind of improved extended Kaman filter（EKF） algorithm was proposed based on a deep insight into the basic Kalman filter algorithm. Also the corresponding ball motion model was established and the simulation results were shown. The simulation results show that the improved EKF algorithm can solve the instability problem effectively in the nonlinear area and the real-time characteristic is improved. The improved EKF algorithm can achieve a better performance on the location forecast of the ball and it is esay to implement.
Key words： soccer robot；position prediction；decision-making subsystem；Kalman filter algorithm；state estimation