Target localization algorithm for cooperative multi-soccer robots based on Hough space
霍夫空间中多足球机器人协作目标定位算法

In this paper,a targeting algorithm for cooperative multi-soccer robots based on Hough space is proposed.The robot uses the landmark in the field for self-localization based on triangular relationships.Object localization for the robot is achieved by position and pose transformation from the image coordinate systems to the world coordinate system on a simplified multi-link robot model.ZigBee wireless sensor network is established between multiple robots for wireless communication.Transforming the coordinate points of the multi-robot target localization into Hough space,the optimal estimation can be obtained by least square fitting.Then,the ball tracking is achieved by fusing the improved particle filter.Finally,a simulation experiment is carried out on 21-degree-freedom humanoid soccer robots.Test data showed that the precision of the targeting algorithm for cooperative multi-soccer robots had risen by 48% and the efficiency of target tracking was improved on the premise of meeting the real-time requirement.