图优化 DWA 算法, 轨迹图模型, 动态窗口, 栅格地图, 贝塞尔曲线

During the high-speed dribbling action in basketball, when a player breaks through, displacement blurring occurs, resulting in a motion blurring effect. It is difficult to obtain the dribbling trajectory map of a basketball player, leading to a deviation between the dribbling trajectory and the actual trajectory. Therefore, a real-time recognition method for basketball players' dribbling trajectories based on the graph optimization DWA(Dynamic Window Approach) algorithm is proposed. Obtaining the point cloud data of the target athlete, and for the basketball court and obstacle events ( other athletes), establishing a raster map, a kinematic model is constructed and a dynamic window is established to simulate multiple dribbling prediction trajectories of the target athlete. The trajectory safety is determined through the dynamic window and the best dribbling prediction trajectory from multiple dimensions is evaluated and determined. Based on the predicted trajectory, the turning points and path points during the dribbling process are obtained. Combined with the A* algorithm, the dynamic obstacle avoidance route is acquired, and the trajectory graph model is derived through the pruning algorithm.The final evaluation function is constructed by designing the heuristic function. According to the evaluation results, the optimal trajectory points in the trajectory graph model are determined, and the obtained trajectories are smoothed using Bezier curves. The priority level of the trajectory points is determined by traversing the graph model, and the trajectories with better smoothness are obtained by comprehensively processing the coordinates and visualizing the output results. The experimental results show that the deviation between the dribbling trajectories of the athletes identified by this method and the actual trajectories is less than 5cm, indicating that the dribbling trajectories of basketball players identified by this method have relatively high accuracy.

graph optimization dynamic window approach(DWA) algorithm, trajectory diagram model, dynamic windows, raster maps, Bezier curves