计算机工程与应用2018，Vol.54Issue(10)：169-172,4.DOI:10.3778/j.issn.1002-8331.1711-0018
NAO机器人的快速迷宫拐点测距及航向矫正
Fast maze inflection point and correcting labyrinth's deviation of NAO
摘要
Abstract
Aiming at the problems of NAO robot walking slowly,walking deviation course caused by motor error,fever and other factors in the maze,a fast inflection point and forward heading correction algorithm is proposed.Firstly,rapid turning point detection is performed in complex indoor environments.Then the geometric model is constructed according to the imaging principle of the camera.Based on this model,the distance between the robot and the inflection point is deduced from the geometrical relation of the image,and then the robot can reach the inflection point quickly by rotating a certain angle according to the included angle.Experiments show that the proposed method can accurately prevent the devi-ation of NAO,and the deviation rate is less than 0.4%.At the same time,NAO's walking rate is increased by about 34.8%.关键词
快速拐点测距/NAO机器人/航向矫正/图像几何关系/拐点检测Key words
fast inflection point distance detection/NAO robots/correcting the deviation/basis of image geometric rela-tion/inflection point detection分类
信息技术与安全科学引用本文复制引用
朱小波,车进,郝志洋,刘毅,杭立..NAO机器人的快速迷宫拐点测距及航向矫正[J].计算机工程与应用,2018,54(10):169-172,4.基金项目
国家自然科学基金(No.61162020). （No.61162020）
