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研究生:陳偉生
研究生(外文):Wei-Sheng Chen
論文名稱:中型足球機器人之即時影像定位與動態路徑規劃之研究
論文名稱(外文):Real-time Image Localization and Dynamic Path Planning for Middle-Size Soccer Robots
指導教授:李祖聖
指導教授(外文):Tzuu-Hseng S. Li
學位類別:碩士
校院名稱:國立成功大學
系所名稱:電機工程學系碩博士班
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2006
畢業學年度:94
語文別:英文
論文頁數:81
中文關鍵詞:影像處理自我定位路徑規劃
外文關鍵詞:Path planningLocalizationImage processing
相關次數:
  • 被引用被引用:4
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本論文係探討中型足球機器人之即時自我定位以及動態進攻與防守之路徑規劃與追尋。依RoboCup規則為標準之中型機器人足球競賽系統,機器人必須為一全自主式機器人。在我們的機器人架構中,唯一的感測器為架設於機器人上方之全方位影像系統。藉由快速的影像處理系統分析出機器人周圍的環境資訊,進而得知重要特徵物之方位。透過機器人之即時影像資訊及自我定位演算法,算出機器人在足球場上的絕對位置及面向角,並根據球與機器人之相對關係計算出球在足球場上的絕對位置。結合球的位置資訊及進攻球門與防守球門的位置座標,藉由不同的行為模式計算出進攻或防守路徑,再以模糊邏輯控制系統驅動機器人實現該有的行為。最後,由實際實驗來驗證所設計之中型足球機器人系統的效益與適應性。
This thesis is mainly to confer the study of real-time self-localization, dynamic attacking/defending path planning, and dynamic tracking for the middle-size soccer robots. According to the middle-size robot soccer league of RoboCup, the middle-size soccer robot (MSR) must be a fully autonomous robot. For our MSRs, the omnidirectional vision system with broad view is mounted on the top of the robot. By using the fast image processing system, our robots can analyze the information about the surroundings and identify the positions of important features in the field. Through the real-time image information and the self-localization algorithm, the absolute coordinate and the heading direction of each robot in the soccer field can be calculated, and the absolute coordinate of the ball in the soccer field can be also obtained based on the relationship among robots and the ball. Combining the information of the ball and the locations of the attacking and defending goals, the best attacking or defending path can be determined by different behavior modes. And then, the MSR accomplishes its own behavior by the FLC system. Finally, the efficiency and feasibility of the proposed system are demonstrated by the practical experiments.
Abstract Ⅰ
Acknowledgment Ⅲ
Contents Ⅳ
List of Figures Ⅶ
List of Tables Ⅹ

Chapter 1. Introduction 1
1.1 Motivation 1
1.2 Thesis Organization 3
Chapter 2. Overview of the Middle-size Robot Soccer System 4
2.1 Introduction 4
2.2 Overview of the Middle Size Robot League 5
2.3 Hardware Architecture of the Middle Size Robot 9
2.3.1 The Omnidirectional Vision Module 9
2.3.2 The Electro-Mechanical Compass Module 12
2.3.3 The Wireless Communication Module 13
2.3.4 The Driver and DC Motor Module 14
2.3.5 The On-board NB 17
2.3.6 Hardware Configuration of the Soccer Robot 18
2.4 Summary 19
Chapter 3. Image Processing and Localization Algorithm 20
3.1 Introduction 20
3.2 Fast Objects Searching Method 21
3.2.1 The Image-Capturing Sub-system and YUV Color Formation 22
3.2.2 The YUV Range Initialization Sub-system 24
3.2.3 The Image Scanning Sub-system 25
3.2.4 The Objects-Identification and CCS Sub-system 26
3.2.5 The Information of Real World above the Robot Sub-system 31
3.3 The Absolute Localization Algorithm for Middle Size Soccer Robots 34
3.3.1 The First Method for Self-Localization 35
3.3.2 The Second Method for Self-Localization 43
3.4 The Absolute Localization Algorithm for the Ball 45
3.5 Summary 47
Chapter 4. Control Strategy and Dynamic Path Planning 50
4.1 Introduction 50
4.2 Fuzzy Logic Controller of the Middle Size Soccer Robot 51
4.2.1 Fuzzification Interface 52
4.2.2 Decision Making Logic 54
4.2.3 Knowledge Base 54
4.2.4 Defuzzification Interface 55
4.2.5 The Fundamental Speed 56
4.3 Control Strategy and Target Tracking Method 56
4.4 Dynamic Path Planning and Trajectory Tracking 61
4.4.1 The Selection of Target for the Attacking Mode 61
4.4.2 The Selection of Target for the Defending Mode 63
4.5 Summary 64
Chapter 5.Experimental Results 65
5.1 Introduction 65
5.2 The Operation Interface 66
5.3 Experiment Results of Image Processing and Localization 69
5.4 Pictures of Attacking Mode and Defending Mode 71
Chapter 6. Conclusion and Future Works 75
6.1 Conclusion 75
6.2 Future Works 76
References 78
Biography 81
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