Abstract：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.
 Asada M,Kitano H,Noda I,et al.RoboCup:today and tomorrow-what we have learned[J].Artificial Intelligence,1999,110(2):193-214.  Fukuda T,Kubota N.Evolutionary robotic system[A].Proceedings of the Micro-Robot World Cup Soccer Tournament[C].Taejon,Korea:KAIST,1997.19-26.  吴丽娟,张春晖,徐心和.足球机器人决策系统推理模型[J].东北大学学报,2001,22(6):597-599.  王文学,孙萍,徐心和.足球机器人系统结构与关键技术研究[J].控制与决策,2001,16(2):233-235.  吴祈耀.随机过程[M].北京:国防工业出版社,1984.