CAJ | 학술논문

无论是在实体足球比赛还是智能体机器人足球比赛中，近距离的任意球破门收益率较高。研究智能体足球机器人比赛的任意球轨迹修正和优化控制问题，进而指导足球训练提高任意球得分率。提出一种基于灰色靶关联分析的智能体任意球轨迹修正方法，首先对整个机器人足球的环境态势和球员行为体选择进行模型构建，然后给出了灰色靶关联分析的任意球轨迹修正算法，进行球体着力点和应力点的适应值分析，构建基于灰色靶关联分析的任意球应力衰减特性分析模型，指导任意球轨迹修正，最后在智能体足球世界杯3D仿真平台进行实验验证了算法的优越性能。实验结果得出，采用该算法能有效指导任意球发球着力点控制，优化任意球的攻击轨迹，提高智能体机器人足球的任意球进球成功率，预测和控制精度提高。
무론시재실체족구비새환시지능체궤기인족구비새중，근거리적임의구파문수익솔교고。연구지능체족구궤기인비새적임의구궤적수정화우화공제문제，진이지도족구훈련제고임의구득분솔。제출일충기우회색파관련분석적지능체임의구궤적수정방법，수선대정개궤기인족구적배경태세화구원행위체선택진행모형구건，연후급출료회색파관련분석적임의구궤적수정산법，진행구체착력점화응력점적괄응치분석，구건기우회색파관련분석적임의구응력쇠감특성분석모형，지도임의구궤적수정，최후재지능체족구세계배3D방진평태진행실험험증료산법적우월성능。실험결과득출，채용해산법능유효지도임의구발구착력점공제，우화임의구적공격궤적，제고지능체궤기인족구적임의구진구성공솔，예측화공제정도제고。
Either in the real football game or agent in the robot soccer competition, a free kick near distance and higher rate is perfect. Correction of arbitrary ball trajectory is researched for intelligent robot soccer competition and the optimal con?trol problem, and then guide the football training is proposed to improve the kick rate. A correction method of grey correla?tion analysis of agent is proposed based on arbitrary trajectory of the ball, first to the robot soccer environment situation and player behavior selection of model construction, and then gives the ball trajectory analysis of grey correlation algorithm, sphere to point and stress value analysis, construction of arbitrary ball analysis the grey target association based on the stress analysis model attenuation characteristics, guiding the ball trajectory correction, finally verify the superior perfor?mance of the algorithm in intelligent football World Cup in 3D simulation platform. Experimental results show that, the algo?rithm can effectively guide the arbitrary ball control, attack trajectory optimization of arbitrary ball is obtained, and it can improve the kick goal agent robot soccer success rate, improve the accuracy of prediction and control.