机器人足球中的路径优化算法,虽然大多数都考虑到了球的运动问题,并且在机器人的移动时间和击球点位置是否有利于进行下一步策略(例如射门,解围)做出了综合的考虑,但并没有具体考虑球在移动中是否会达到更加有利于击球的位置。该文提出击球点择优的算法,旨在配合路径优化算法,求解更好的截球射门点,并通过实验验证了其有效性。 Although most of the path optimization algorithms in robot soccer consider the ball movement problem and make a comprehensive consideration of whether the robot’s movement time and the position of the impact point are favorable for the next strategy (for example, shooting and rescue) But did not specifically consider whether the ball will reach a more conducive position to hit the ball during the move. In this paper, the algorithm of strike point selection is proposed to meet the path optimization algorithm and solve the problem of better shot interception point, and its validity is verified through experiments.