基于双目协调的小型全自主足球机器人导航  

NAVIGATION OF SMALL-SIZE AUTONOMOUS SOCCER ROBOT BASED ON THE COORDINATION OF TWO-CCD SYSTEM

作　　者：高庆吉[1] 洪炳熔[1] 阮玉峰[1] 

机构地区：[1]哈尔滨工业大学计算机科学与技术学院,黑龙江哈尔滨150001

出　　处：《机器人》2003年第6期505-511,520,共8页Robot

摘　　要：对所开发的小型全自主足球机器人只依靠双目异构视觉进行导航问题进行了研究 .建立了双视觉测量目标相对和全局坐标的模型 ,给出了上目和下目的基本导航方法 .然后重点分析了基于双目协调的足球机器人导航数据融合方法和双目协调机理 .在所开发的全自主足球机器人上进行的实验及在FIRA的世界杯赛上机器人的成功表现 。Navigation based on two different structured CCD cameras mounted on small size autonomous soccer robot is presented. Models to get the local and global coordinates are given and navigation methods of each CCD are discussed. Then the approach of data fusion and coordination based on the two CCD system to implement navigation of soccer robot are analyzed in detail. The validation and practicability of navigation based on coordination of two CCD system are proved by the experiment on the accomplished robot and FIRA world Cup competition.

关 键 词：双目协调 全自主足球机器人 导航 数据融合 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]