CAJ | 학술논문

RoboCup 中型组比赛对抗激烈。针对赛场的高度动态性，提出了一种快速的机器人自定位方法。首先根据全向视觉机器人的结构特点。在进行视觉处理时，利用图像掩模去除无效信息；同时针对全像素搜索的不必要性，采用基于 Bresenham算法的像素搜索方法，缩小像素搜索范围。在机器人自定位时，利用白线定位方法，结合基于 Bresenham 算法的像素搜索方法，有效的提高图像处理的实时性。最后，以ASROⅡ机器人为实验平台，设计了实验验证了该方法不但提高了实时性；而且完全可以满足比赛对定位精度的要求。
RoboCup 중형조비새대항격렬。침대새장적고도동태성，제출료일충쾌속적궤기인자정위방법。수선근거전향시각궤기인적결구특점。재진행시각처리시，이용도상엄모거제무효신식；동시침대전상소수색적불필요성，채용기우 Bresenham산법적상소수색방법，축소상소수색범위。재궤기인자정위시，이용백선정위방법，결합기우 Bresenham 산법적상소수색방법，유효적제고도상처리적실시성。최후，이ASROⅡ궤기인위실험평태，설계료실험험증료해방법불단제고료실시성；이차완전가이만족비새대정위정도적요구。
In order to solve the self-localization problem in highly dynamic situation in the RoboCup middle size league competition , a fast robot self-localization method was used .Firstly, according to the structural of omnidirec-tional visual robot during visual processing , using an image mask the invalid information was removed .In order to avoid searching for all the pixels and narrow the scope of pixel , a method based on Bresenham algorithm was used . Using white line positioning algorithm to determine the robot position , combined with the search method based on Bresenham algorithm , the real-time image processing is effectively improved .Finally, a test was design based on ASROⅡrobot and it is proved reliable and effective .