Prediction of Ball Trajectory in Robot Soccer Using Kalman Filter

로봇축구에서의 칼만필터를 이용한 공의 경로 추정

Robot soccer is a challenging research area in which multiple robots collaborate in adversarial environment to achieve specific objectives. We designed and built the robotic agents for robot soccer, especially MIROSOT. We have been developing the appropriate vision algorithm, algorithm for ball tracking and prediction, algorithms for collaboration between the robots in an uncertain dynamic environment. In this work we focus on the development of ball tracking and prediction algorithm using Kalman filter. Robustness and feasibility of the proposed algorithm is demonstrated by simulation.