基于视觉的机器人足球路径规划研究-计算机应用技术专业论文.docx

基于视觉的机器人足球路径规划研究守门等。比赛中足球机器人正是根据一定的策略对基本动作进行选择，通过协作完成 基于视觉的机器人足球路径规划研究 守门等。比赛中足球机器人正是根据一定的策略对基本动作进行选择，通过协作完成 相应的任务。基本路径规划和基本动作的设计至关重要，直接决定比赛结果。 (4)最后，还初步探索了机器人足球决策模型和协作策略。 关键字：机器人足球，视觉定位，路径规划，避障控制，基本动作，决策，协作策略 济南大学硕士学位论文ABSTRACT 济南大学硕士学位论文 ABSTRACT The robot soocer has come to be one of researching focuses in the field of intelligent control as all important test platform for artificial intelligence and robotics in recent years。 The robot soccer can promote the development ofmany fields such as robotics，vision and sensor technique，expert system,multi·agent system,neural network ete through giving a standard task that make researchers try to acquire better plans by using all kinds of techniques． The robot soccer system based on vision of centralized control eousists of vision subsystem，decision-making subsystem，wireless communication subsystem and robot．We have primarily researched the vision system，path planning，obstacle avoidance and the design of basic actions；the decision-making model and multi—robot cooperation are also discussed preliminarily．The main content is as follows． Firstly,we have located the robots and the ball by vision．We make吼lre the location of the robot by the team sign and make戳Ire the member number and the movement direction by member sign．Thus we can acquire the information of the whole Sagerle．We make use ofthe YUV color space to decrease the effect ofthe illumination and make nse of the酣d scan to improve the speed of image processing．The test has proved that the recogtaition result call satisfy the need ofthe robot soccer match． Secondly，we have carried out the research about path planning and obstacle avoidance，Because there is comparatively large deviation to make sure the movement direction by the team sign and the member sign,We predict the movement direction according to the track．Because the motion model ofthe robot is hardly accurately defmed， we applied the fuzzy logic to the path planning．We．Call acquire a comparatively good result