RoboCup中NAO机器人球场目标红球识别与快速找球策略

The Identification of Target Red Ball and The Fast Ball Finding Strategy of Nao Robot in Robocup

根据RoboCup中NAO机器人足球比赛的规则,机器人通过对颜色的识别来识别球场上的物体及环境。文章分析了RGB颜色空间的优缺点,采用HSV作为视觉系统的颜色空间,减弱了现场光照变化对视觉系统产生的影响。文章提出了一种基于HSV色彩空间下识别红球的方法,然后提出一种简单的追踪红球策略,与测距追踪实际效果相比较,发现这种追踪策略更符合实际场景应用。

According to the rules of the NAO robot football match in RoboCup,the vision system of the Nao identify everthing through colors.This paper analyzes the advantages and disadvantages of RGB color space,adopts the HSV color space as NAO vision system which weakens the impact on vision system caused by the changes of the filed illumination.A simple strategy to identify red ball based on HSV color space is proposed,then puts forward a simple ball finding strategy,which is more suitable in actual scene application compared with the range distance finding strategy.