In this paper

a targeting algorithm for cooperative multi-soccer robots based on Hough space is proposed.The robot uses the landmark in the field for self-localization based on triangular relationships.Object localization for the robot is achieved by position and pose transformation from the image coordinate systems to the world coordinate system on a simplified multi-link robot model.ZigBee wireless sensor network is established between multiple robots for wireless communication.Transforming the coordinate points of the multi-robot target localization into Hough space

the optimal estimation can be obtained by least square fitting.Then

the ball tracking is achieved by fusing the improved particle filter.Finally

a simulation experiment is carried out on 21-degree-freedom humanoid soccer robots.Test data showed that the precision of the targeting algorithm for cooperative multi-soccer robots had risen by 48% and the efficiency of target tracking was improved on the premise of meeting the real-time requirement.