| 基于双目协调的小型全自主足球机器人导航 |
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| 引用本文： | 高庆吉,洪炳熔,阮玉峰.基于双目协调的小型全自主足球机器人导航[J].机器人,2003,25(6):505-511. |
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| 作者姓名： | 高庆吉 洪炳熔 阮玉峰 |
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| 作者单位： | 哈尔滨工业大学,计算机科学与技术学院,黑龙江,哈尔滨,150001 |
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| 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，证明了双目协调导航的有效性和实用性．
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| 关 键 词： | 双目协调 全自主足球机器人 导航 数据融合 |
| 文章编号： | 1002-0446(2003)06-0505-07 |
NAVIGATION OF SMALL-SIZE AUTONOMOUS SOCCER ROBOT BASED ON THE COORDINATION OF TWO-CCD SYSTEM |
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| GAO Qing ji,HONG Bing rong,RUAN Yu feng.NAVIGATION OF SMALL-SIZE AUTONOMOUS SOCCER ROBOT BASED ON THE COORDINATION OF TWO-CCD SYSTEM[J].Robot,2003,25(6):505-511. |
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| Authors: | GAO Qing ji HONG Bing rong RUAN Yu feng |
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| Abstract: | 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. |
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| Keywords: | coordinate of two CCDs autonomous soccer robot navigation data fusion |
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