%0 Journal Article
%T Building global map in autonomous robot soccer system<br>全自主机器人足球系统的全局地图构建研究
%A ZHANG Xue-xi
%A YANG Yi-min
%A XIE Yun
%A <br>张学习
%A 杨宜民
%A 谢云
%J 控制理论与应用
%D 2011
%I 
%X This paper is concerned with the cooperation between robots in building a global map. Based on the local map-building through multi-sensors carried by a single robot, this paper studies the monocular front-vision modeling method. Meanwhile, we elaborate two information fusion methods: density-based spatial clustering of applications with noise(DBSCAN) clustering algorithm and maximum likelihood estimate fusion algorithm. By these two methods, the information about the location of opponent robots and the information about the location of the ball are fused, thus, a global map is built. Experimental results show that through the cooperation of robots, a global map can be accurately built, which compensates the information limitation in sensors of each single robot, and meets requirements in map-building in the dynamic environment of autonomous robot soccer tournament.
%K global map-building
%K soccer robot system
%K local map-building
%K DBSCAN clustering arithmetic
%K maximum likelihood estimate fusion a1gorithm<br>全局地图构建
%K 机器人足球系统
%K 局部地图构建
%K DBSCAN聚类分析
%K 极大似然融合算法
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=A681D9DF1526F29EF53D9FDE384841DF&yid=9377ED8094509821&vid=D3E34374A0D77D7F&iid=DF92D298D3FF1E6E&sid=BA5B7FED4FC3CDB1&eid=8115E88DD41C4B46&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=8