中型组足球机器人全向视觉定位技术  

Omni-vision based localization for middle-size soccer robot

作　　者：毛慧珍[1] 陈西平[1] 浮红霞[1] 赵波[1] 罗阳[1] 

机构地区：[1]河南理工大学机械与动力工程学院,焦作454000

出　　处：《信息技术》2009年第1期5-9,共5页Information Technology

基　　金：河南省杰出人才基金项目(20030290019);河南理工大学博士基金资助项目(648163)

摘　　要：自定位是移动机器人正常工作所必须具备的能力。综述了RoboCup中型组足球机器人比赛中机器人的基于视觉定位技术,包括机器人自定位技术和多机器人协作物体定位技术,并对这些定位方法特点进行了分析探讨。首先介绍算法相对简单且应用广泛的基于路标的几何定位法;其次分析基于贝叶斯滤波的概率定位方法,它融合了多传感器信息,能够达到较好的定位性能;最后探讨了多机器人协作物体的定位方法。最后对机器人视觉定位的发展趋势进行了展望。Serf-localization is a vital ability for mobile robot＇s normal operations. The paper summarizes the vision-based localization approaches for autonomous mobile robots in RoboCup competition, including the self- localization and coordinated multi-robot object localization, and the performance of those localization methods is analyzed and compared. Firstly, the geometric localization approach based on road-mark is introduced, it is simple in theory and has been applied abroad; secondly, the probability-based localization based on Bayesian filter is presented, which can arrive better localization performance by combining multi-sensor data; then, the coordinated multi-robot object localization technology is studied; finally, the trend of research of the vision- based localization method is discussed.

关 键 词：移动机器人 视觉定位 贝叶斯滤波 概率定位 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]