Design And Research Of Vision System Of Humanoid Soccer Robot

Vision system is main method for humanoid soccer robot catching information in humanoid soccer game. The footstone of robot designing is lying to whether the vision system can recognize and track goal accurately and fast. So the design and research of vision system is significant. The thesis aim to detail problems such as monocular distance measurement and so on, main works are as follows:First, the thesis build monocular ranging based on HSI color space besides forward kinematics and pinhole principle, and compares the result of reorganization between RGB and HSI color space. The experiment analyzes different elements which influence ranging such as angle of pitch and height of monocular, chosen of feature point of object when robots move.Second, Simulated humanoid soccer has many collisions, the thesis introduce artificial potential field method for local path planning and add random angle method to avoid local minimum. Besides, the thesis present a local path planning of humanoid soccer robot based on monocular vision. It gets the far points which represent the obstacles by segmenting the image based on color threshold scan-line method in HSI color space. The value of robot coordination of far point is calculated by monocular vision imaging principle. To deal with the obstacle avoidance, the field of view of robot is divided to several sectors, the current direction of robot's is determined by the number of selected sectors .The simulated experiment prove its feasibility and suit for real-time of robot soccer match, compare with artificial potential field(APF) in time-consuming and times of success.Last, the thesis introduces the implementation and application of HfutEngine MSRS humanoid soccer team.