中型组足球机器人全场定位系统的研究

Hough..TP368.1B1008-2794201210-0100-04RobCup[1-2].[3].Markov[4].[5][6].RobCup..11.11.MxyMN.MNr1r2MNK K21?yxr1r2r3010.OxN-r2yN+r2.[7]..1.211660W10.8×7.2m0.6..15050.490380.2xyθ[8]xyθ..[9][10].23.2.1Hough[11]Hough1mP=pi=xiyi|i=12m2Ppj3P1=pi=xiyi|i=j+12mpk45P16415050908025020029023045035010290145127293235327277477365490380()650390590530()750,600803655553423673417716584780,633835,68010151θjlθjlθjkθjl|θjk-θjl|≥δ1Hθjk←1θjkθjl|θjk-θjl|δ1Hθjl←Hθjl+1.36HθT1pjρθ{237Pp=xyρθ|xcosθ+ysinθ-ρ|δ2PT2.PT328.4Hough.Hough.2.291~9.0.5..1201~9.2.3..21660W10.8×7.2m0.6....K K0 47 49 48 41 42 43 44 45 46 4102102102..3RobCup..5050908025020029023045035050539079253200293235451355490380650500690530750,600803655500390653505692534753,600805,652AResearchintoOmni-visionBasedLocationforMiddle-sizedSoccerRobotGENGXiao-fei,MAOLi-min,ZHUANGMeng-qiu,XIADe-weiSchoolofElectricalandAutomationEngineering,ChangshuInstituteofTechnology,Changshu215500,ChinaAbstract:Accurateomnipositioningisthepremiseofthemedium-sizedgroupofrobotsworkingproperly.Om⁃nipositioningbasedontwofeaturepointsisneitherpreciseenoughnorstableenoughandthereisadeadzone,whichproposesanomnipositioningmethodbasedontheinformationofthefieldlines.TheHoughistrans⁃formedtodetectfieldlines,andtheworldcoordinatesystemofthemessagedefinitionofthefieldlinesisusedtomeetthereal-timerequirementsofthecasesothataccurateandstablepositioningcanbeachieved.Keywords:omni-vision;fieldlines;omnipositioning103