Defensive strategy of the goalkeeper based on the 3D vision and field division for the middle-size league of robocup

In the Middle-size League of RoboCup, the situation on the ground is unpredictable as the football moves irregularly whether viewed from the speed or the direction or the height of the football movement. Therefore, a single defensive strategy cannot meet the demands of the goalkeeper for the goalkeeping. In view of this, this paper proposes the use of dynamic vision and 3D imaging technology, which solves the problem of insufficient capacity of the goalkeeper using a single strategy according to the football area and height and different strategic options, thus greatly improving the success rate of the gatekeepers. In addition, the feasibility of the strategy is also verified through the actual match.