Dynamic Positioning Method Based on Dominant Region Diagram to Realize Successful Cooperative Play
Dynamic Positioning Method Based on Dominant Region Diagram to Realize Successful Cooperative Play
复制标题
基于优势区域图的动态定位方法实现成功的合作游戏
DOI：
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发表时间：
2008
期刊：
影响因子：
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通讯作者：
T. Naruse
中科院分区：
文献类型：
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作者：
Ryota Nakanishi;K. Murakami;T. Naruse
在本文中，我们提出了一种新的技术来计算，在真实的时间，机器人在一个合作的发挥，如传球和投篮发挥的位置。为了评估机器人的定位，我们使用了优势区域（DR）图，这是一种Voronoi图。在DR图中，足球场被划分为区域，每个区域显示机器人可以比其他机器人更快到达的区域。这种划分基于到达时间，而通过Voronoi图的划分基于到达距离。虽然DR图在机器人的定位中起着主要的作用，但它存在计算时间长的严重问题。为了克服这个问题，我们给出了一个近似计算过程来获得DR图，实现了真实的时间计算，即在一帧时间内的计算。将近似优势图应用于机器人的传球定位，通过仿真研究，
可以真实的实时计算DR图，
可以获得传球的适当位置。
In this paper, we propose a new technique to compute, in real time, the positions of robots in a cooperative play such as the pass-and-shoot play. To evaluate the positioning of the robot, we use the Dominant Region(DR) diagram, which is a kind of a Voronoi diagram. In the DR diagram, the soccer field is divided into regions, each of which shows an area that a robot can reach faster than the other robots. This division is based on the time of arrival while the division by the Voronoi diagram is based on the distance of arrival. Though the DR diagram plays a primary role in the positioning of the robots, it has a serious problem of taking much computation time. To overcome this problem, we show an approximate calculation procedure to obtain the DR diagram, which realizes the real time computation, i.e. a computation within a frame time. Applying the approximate dominant diagram to the positioning of the robots for the pass play, we show, by the simulation study,
the DR diagram can be calculated in real time,
an appropriate position for the pass play can be obtained.