NAO机器人在特殊迷宫环境行走导航
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摘要
NAO仿人机器人是足式行走研究和机器人赛事竞技的标准技术平台,但由于其自身硬件能力的限制,通常需要外部设备辅助来实现复杂应用。以NAO机器人在未知迷宫中的独立行走导航为具体目标,充分考虑NAO机器人自身传感偏差和行走打滑等客观不利因素,提出一种具有较高可靠性的行走导航方法。首先对包含特殊标记的迷宫路口进行特征分析,通过借鉴经典的"边线式"(Right Hand Rule)迷宫解谜策略,构建基于迷宫场景图像特征识别和声呐校正的详细行走策略。仿真和实验结果表明,所提方法能够实现NAO机器人自主、可靠地迷宫导航运动。
This paper aims to achieve independent navigation of NAO in the special maze environment,considering the own sensing deviation and feet slippage.This paper proposes a navigation method with higher reliability.Firstly,this paper analyzes the features of the maze intersection with special marks,then referring to the classic Right Hand Rule maze puzzle method,a detailed walking strategy based on image feature recognition and sonar correction is presented.
This paper aims to achieve independent navigation of NAO in the special maze environment,considering the own sensing deviation and feet slippage.This paper proposes a navigation method with higher reliability.Firstly,this paper analyzes the features of the maze intersection with special marks,then referring to the classic Right Hand Rule maze puzzle method,a detailed walking strategy based on image feature recognition and sonar correction is presented.
引文
[1]George Laurent,Mazel Alexandre.Humanoid robot indoor navigation based on 2D bar codes:Application to the NAO robot[C]∥IEEE-RAS International Conference on Humanoid Robots, 2015:329-335
[2]Changyun Wei,Junchao Xu,Chang Wang.An Approach to Navigation for the Humanoid Robot NAO in Domestic Envi ronments[J].Lecture Notes in Computer Science,2014:298-310
[3]Chao Li,Xin wang.Visual localization and object tracking for the NAO robot in dynamic environment[C]∥IEEE ICIA 2016:1044-1049
[4]Julio Delgado-Galvan,Alberto Navarro-Ramirez.Vision-Based Humanoid Robot Navigation in a Featureless Envionment[J].Lecture Notes in Computer Science,2015:169-178
[5]Angela Faragasso,Giuseppe Oriolo.Vision-Based Corridor Navigation for Humanoid Robots[C]∥IEEE International Conference on Robotics and Automation,2013:3190-3195
[2]Changyun Wei,Junchao Xu,Chang Wang.An Approach to Navigation for the Humanoid Robot NAO in Domestic Envi ronments[J].Lecture Notes in Computer Science,2014:298-310
[3]Chao Li,Xin wang.Visual localization and object tracking for the NAO robot in dynamic environment[C]∥IEEE ICIA 2016:1044-1049
[4]Julio Delgado-Galvan,Alberto Navarro-Ramirez.Vision-Based Humanoid Robot Navigation in a Featureless Envionment[J].Lecture Notes in Computer Science,2015:169-178
[5]Angela Faragasso,Giuseppe Oriolo.Vision-Based Corridor Navigation for Humanoid Robots[C]∥IEEE International Conference on Robotics and Automation,2013:3190-3195