RoboCup3D机器人定位研究综述  

A Survey of Robot Self-localization and the Research in RoboCup3D

作　　者：傅汉霖 操凤萍 FU Han-lin, CAO Feng-ping （Southeast University Chengxian College, Nanjing 210088, China）

机构地区：东南大学成贤学院,江苏南京210088

出　　处：《电脑知识与技术》2016年第4期172-174,共3页Computer Knowledge and Technology

基　　金：2015年江苏省高等学校大学生实践创新训练计划（编号：scx1508）

摘　　要：RoboCup3D仿真比赛中为了模拟真实世界环境,比赛中加入了受限视觉和视觉噪声,所以能否准确定位对比赛有着关键作用。综述了RoboCup3D足球赛中在受限视觉下的智能体自定位技术,介绍了定位技术的分类,系统地分析和比较了各种自定位方法,总结了定位过程中需要重点研究的粒子滤波器等相关问题,最后就RoboCup3D机器人定位存在的问题和发展趋势进行了讨论。In RoboCup3D simulation game,in order to simulate the real environment,in consequence of adding limited visual and visual noise in game,the accurate localization directly affects the game.Considering the limited vision,it summarizes and analyzes the localization approaches in RoboCup3D competition.Firstly,the state of categories of localization techniques was presented.It systematically analyzed various self- localization methods and discussed particle filter applied in self- localization.Finally,existing problems were pointed out and the development trend were given.

关 键 词：ROBOCUP3D 机器人自定位 粒子滤波器 智能体 受限视觉 

分 类 号：TP242[自动化与计算机技术—控制科学与工程;自动化与计算机技术—检测技术与自动化装置]