| 基于新规则足球机器人的研究 |
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| 引用本文： | 吴晓.基于新规则足球机器人的研究[J].湖南文理学院学报(自然科学版),2008,20(2):70-74. |
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| 作者姓名： | 吴晓 |
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| 作者单位： | 上海交通大学 机器人研究所, 上海,200030 |
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| 摘 要： | 针对2008年中型组自主足球机器人比赛规则的变化,研究改进符合新规则且更加先进的足球机器人,主要在机器人的底盘转向、踢球机构、运动控制、视觉系统进行优化,特别是用先进的白点定位、卡尔曼滤波算法提高了定位精度,经过多次试验、比赛能够达到预期效果.
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| 关 键 词： | 中型组自主足球机器人 机器视觉 卡尔曼滤波 |
Research on based rules and regulations of the game to msrl for 2008 |
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| WU Xiao.Research on based rules and regulations of the game to msrl for 2008[J].Journal of Hunan University of Arts and Science:Natural Science Edition,2008,20(2):70-74. |
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| Authors: | WU Xiao |
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| Institution: | WU Xiao (Research Institute of Robotics,Shanghai Jiaotong University,Shanghai,200030) |
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| Abstract: | In order to adapt the new rules of competitions of autonomous soccer robots for MSRL in 2008, robot driving, kicking mechanism, motion controlling, vision system, and the localization accuracy will be improved. Especially white points localization and Kalman filter algorithm applied in self-localizaiton were discussed respecitvely. Experiment results show that the improvement has the advantages in computational complexity, localization accuracy and robustness and is successful. |
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| Keywords: | autonomous soccer robots for MSRL machine vision kalman filter |
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