The Research And Application Of Autonomous Robot Global Localization System

Robot soccer match is a kind of high technology match which has arisen around the world in recent years. With the development of robotic technique, robot soccer match has become one of the hot focuses in robot field. Robot soccer match combines the technique from information,automation, communication and AI, and provides a platform to test all above skills.In the soccer-robot system, globle localization system is a vital part; it is the perceptual part of overall system and map. At the present time, all the information that the strategy system can get, comes from the globle localization system . The assignment of vision system is to grab the primal image of ground, then analyze, dispose and identify the image, accordingly get the motion state information of objects (ball and both robots). Then ,it is localization algorithm that localize and form perceptual schema .Finally it supply strategy system with all the information, used to command the robots.The soccer-robot's globle localization system is one of the research aspect of robot ,it is a system based on color and multi-target tracking. It's identifying the color image,needs to identify the objects accurately in a very short time, and can be adapted to the variational illumination. It is significance for the academic researching of computer vision and practice of interrelated technology.The work is to design and actualize the RoboCup MidSize soccer-robot's globle localization system, to construct a elementary globle localization system, to practice the theory. The following work has been completed:①Introduce Human-Simulated Intelligent Control(HSIC) and sensory-motor intelligent schemas based on HSIC theory;②Summarize and analyze the reaserch in globle localization of robot soccer;③Design controller base on HSIC,used for proving our localization approach.;④Design omni-vision and odometer triangulation-like approach to robot localization base on schemas theory;⑤compare with lots of Probabilistic methods , Monte Carlo has practical and betterment application in robot;Practices demonstrate the globle localization system can acquire task commendably,supply trategy system with plenteous information; can be used in to the actual combat.This soccer-robot system achieve good success, runner-up and third in the countrywide match, meanwhile set up a platform for upper researching.