基于异构双目视觉的全自主足球机器人导航

35920039JOURNALOFHARBININSTITUTEOFTECHNOLOGYVol135No19Sep.,2003,,(,150001):,,,,.,.:;;;:TP24:A:0367-6234(2003)09-1029-04Navigationofsmall2sizeautonomoussoccerrobotbasedoniso2visionsystemwithtwocamerasGAOQing2ji,HONGBing2rong,RUANYu2feng(SchoolofComputerScienceandTechnology,HarbinInstituteofTechnology,Harbin150001,China)Abstract:Therationalityandeffectivenessofcoordinatednavigationofiso2visionsystemwithtwocamerasforsoccerrobotisdiscussedthroughtheoreticalanalysisandexperiments.Modelstogetthelocalcoordinatesaregiven.Theapproachofdatafusionandcoordinationbasedontheiso2visionwithtwocamerastoimplementnavigationofsoccerrobotareanalyzed.Thevalidationandpracticabilityofnavigationbasedoncoordinationofiso2visionwithtwocam2erasareprovedthroughexperimentsontheaccomplishedrobot.Keywords:iso2visionwithtwocameras;autonomoussoccerrobot;navigation;datafusion:2003-06-20.:(863-2001AA422270).:(1966-),,,;(1937-),,,,.,[1].[2,3],.11,,1[4],,.FIRARoboSot,,,,.1.,1.1Fig.1Locationofiso2visionsystem.,,,©1995-2005TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.[4].,.2().[5].,;,.,,.(1):,2,...(2):,.,,..2.2,.StY(t),jRj[a,b]D(j)=Pn/Interval.,.1:SaSb,Da(j)2Db(j),Y(t)Sa.2:SaSb,Db(j)/2Da(j)2Db(j),VSaSb.3:SaSbEaEb,Y(t)2.33.,()();,;,[6]..3,..,,..(a)(b)2Fig.2Relationbetweenscreenandphysicaldistance.,.,.,.,,..,,..030135©1995-2005TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.3Fig.3Diagramofnavigatiuoncontrolmodelwithtwo2vision...,(PID).PID.,,,.PID.,,,.,:Setu={1,2,311,312,313}.()Setd={1,2,311,312,4,5,6,7,8,9}.tStat(t),:Stat(t)={Logici(t)|i[0,M],Analogj[x(t),y(t)]|j[0,N]}.(1):Logici(t);Analogj[x(t),y(t)],j[0,1,2,3].,(1)t,t:ExState(t)={(Stat(t),Beh(i))|i=0,1,2,,t}.,,PBehRob.tt-1,.4:.:();;()2.4.1.1.,,().,.,413019,:©1995-2005TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.4Fig.4Simulationdiagramofgoalbehaviorserial5.43s.,,,.,(2s).50cm,.(8s).,,.,(21s),,.,.,,(40s).,.1Table1BehaviorserialsofsearchingballandgoalR1R2R3R4R5R6R7R8R9R10U1,1U2,2U3,312U4,311U5,312U6,312U7,313U8,312U9,312U10,312D1,1D2,2D3,311D4,4D5,5D6,312D7,8D8,10D9,9D10,65Fig.5Mainparameterstrendfiguresofsearchingballandgoal,,.,,,,,.,,,,.,,.,.,.5(1),.(2),,,,.(3),.(1088)230135©1995-2005TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.=arctana12a11.,(1,1)(2,2)=arccos(cos1cos2cos1cos2+cos1cos2sin1sin2+sin1sin2).,th,.2k-,.1,.1Fig.1Resultofimagesegmentation3,,,.:[1],,,.[J].,199926(4):59-62.[2]KLINDERGJ,SHAFERSA,KANADET.Aphysicalap2proachtocolorimageunderstanding[J].Int.J.ComputerVi2sion,1990,4:7-38.[3]BRILLMH.Imagesegmentationbyobjectcolor[J].JOptSocJAm,A,1990,7(10):2041-2047.[4]SHIJIA,HAMADAN.Colorimagesegmentationmethodusingmatershedalgorithmandcontourinformation[J].,2000,83(2):593-600.[5].[M].:,1996.[6],.[J].,1994,14(8):862-866.[7].[M].:,1988.()(1032):[1]JUNGMJ,JANGJS,KIMJH.DevelopmentofRoboSotcategorysoccerrobots[J].JournalofHarbinInstituteofTechnology,2001,8(3):300-302.[2]YOSHINORIS,TOMOHIRON.AMotionTrackingbyEx2tracting3DFeatureofMovingObjectwithBinocularCoopera2tiveFixation[A],Proceedingofthe2002IEEE/RSJIntl[C],Lausanne,Switzerland:IEEE/RSJIntl,2002113-18.[3]LIMAAP,BONARINIA,MACHADOCC,etal.Omni2di2rectionalcatadioptricvisionforsoccerrobots[J].RoboticsandAutonomousSystems,2001,36(2):87-102.[4],.[M].:,2003.[5],,.[J].,2002,17(4):385-390.[6]KRAETZSCHMARGK,ENDERLES.Self2localizationus2ingsporadicfeatures[J].RoboticandAutonomousSystems,2002,40(2):111-119.()880135©1995-2005TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.