【作者】 方辉；

【导师】 王浩；

【作者基本信息】 合肥工业大学 ， 计算机应用技术， 2010， 硕士

【摘要】 足球仿人机器人比赛中的视觉系统是机器人获取信息的主要来源,能否准确快速的识别场上的目标物体是机器人设计的基石,因此仿人机器人的视觉系统设计过程中的目标识别和目标跟踪有着及其重要的意义。本文针对足球仿人机器人比赛中的具体问题,如单目测距系统的构建、如过多碰撞问题主要做了以下的工作:首先,在基于HSI颜色空间的多目标识别的基础上,结合正运动学运动原理和单孔成像原理构建了足球仿人机器人的单目测距系统,并与RGB颜色空间上的识别效果进行了比较。并用实验分析了单目测距系统影响测距效果的各种因素,如俯仰角、机器人的动态身高、目标点的选取等。其次,针对足球仿人机器人比赛中碰撞过多的情况,介绍了人工势场法在机器人足球路径规划中的应用,针对人工势场法容易陷入局部最小的缺陷,通过增加一个随机角度生成来改进人工势场法。另外提出一种基于视觉信息的仿人足球机器人的局部路径规划方法,对机器人获取的图像进行基于颜色阈值的扫描线分割算法来获取表征障碍物的最远点,利用单目摄像机成像原理来获取最远点在机器人坐标系中的位置。为解决局部路径规划中遇到的避障问题,对机器人视觉范围进行扇区的划分,通过扇区选择函数得到可行扇区的序号来选择当前的路径方向。仿真实验证明该方法的可行性以及满足机器人足球比赛的实时性,同时分别在平均消耗时间和碰撞次数上对改进的人工势场法和基于扇区模型的方法进行了比较。最后,介绍了HfutEngine MSRS球队的视觉框架的设计以及上述方法在球队中的应用。更多还原

【Abstract】 Vision system is main method for humanoid soccer robot catching information in humanoid soccer game. The footstone of robot designing is lying to whether the vision system can recognize and track goal accurately and fast. So the design and research of vision system is significant. The thesis aim to detail problems such as monocular distance measurement and so on, main works are as follows:First, the thesis build monocular ranging based on HSI color space besides forward kinematics and pinhole principle, and compares the result of reorganization between RGB and HSI color space. The experiment analyzes different elements which influence ranging such as angle of pitch and height of monocular, chosen of feature point of object when robots move.Second, Simulated humanoid soccer has many collisions, the thesis introduce artificial potential field method for local path planning and add random angle method to avoid local minimum. Besides, the thesis present a local path planning of humanoid soccer robot based on monocular vision. It gets the far points which represent the obstacles by segmenting the image based on color threshold scan-line method in HSI color space. The value of robot coordination of far point is calculated by monocular vision imaging principle. To deal with the obstacle avoidance, the field of view of robot is divided to several sectors, the current direction of robot’s is determined by the number of selected sectors .The simulated experiment prove its feasibility and suit for real-time of robot soccer match, compare with artificial potential field(APF) in time-consuming and times of success.Last, the thesis introduces the implementation and application of HfutEngine MSRS humanoid soccer team.更多还原