摘要
将一种基于凸壳的路径规划算法应用于体育场智能服务机器人,首先采用基于Haar特征分类器的方法确定球的坐标,采用基于颜色模型的方法确定机器人的位置及航向,并根据机器人的自身特点,将一定范围内的多个球视为一个目标点处理;然后以目标点坐标作为算法输入,采用基于凸壳的路径规划算法得到一条较优的捡球路径.该算法可以降低机器人的捡球运动代价,有效提高机器人的捡球效率.
A path planning algorithm based on convex hull is applied to autonomous service robot in this paper. Firstly, the coordinates of ball positions are determined by using Haar-like features classifier, the coordinate of robot＇s position and its heading are determined by using the method based on color model. According to the features of the robot itself, the balls in a certain range can be treated as one target point. Then a better ball-picking path is elaborated with a path planning algorithm based on convex hull, which takes the target points as the input of algorithm. The algorithm alleviates the robot＇s motion cost and improves the ball-picking efficiency of the autonomous service robot obviously.
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2011年第1期54-58,63,共6页
Transactions of Beijing Institute of Technology
基金
国家自然科学基金资助项目(60773044)
关键词
智能服务机器人
路径规划
Haar特征分类器
凸壳
autonomous service robot
path planning
Haar-like features classifier
convex hull
