文档介绍：第31卷第1期北京理工大学学报 2011年1月Transactions ofBeijing Institute ofTechnology 一种基于凸壳的智能服务机器人路径规划算法杨毅, 刘亚辰, 刘明阳, 付梦印(北京理工大学自动化学院,北京100081) 摘要:将一种基于凸壳的路径规划算法应用于体育场智能服务机器人,首先采用基于Haar特征分类器的方法确定球的坐标,采用基于颜色模型的方法确定机器人的位置及航向,并根据机器人的自身特点,将一定范围内的多个球视为一个目标点处理;然后以目标点坐标作为算法输入,,有效提高机器人的捡球效率. 关键词:智能服务机器人;路径规划;Haar特征分类器;凸壳中图分类号:TP 文献标志码:A 文章编号:1001—0645(2011)01—0054—06 A Path Planning Algorithm Based on Convex Hull forAutonomous Service Robot YANG Yi,LIU Ya—chen,LIU Ming—yang, FU Meng—yin (School ofAutomation,Beijing Institute ofTechnology,Beijing 100081,China) Abstract:A path planning algorithm based on convex hull applied to autonomous service robot ,the coordinates ofballpositions are determined byusing Haar-like features classifier,the coordinate ofrobot’Sposition and itsheading are determined by using the method based on color to the features ofthe robot itself,the ballsin a certain range can be treated as one target a better ball—picking path elaborated with a path planning algorithm based on convex hull,which takes the target points as theinput ofalgorithm. The algorithm alleviates therobot’S motion cost and improves the ball—picking efficiency ofthe autonomous service robot obviously. Key words:autonomous service robot;path planning;Haar—like features classifier;convex hull 智能服务机器人作