| ABSTRACT | 第4页 |
| 摘要 | 第5-10页 |
| CHAPTER 1 INTRODUCTION | 第10-24页 |
| 1.1 SIGNIFICANCE AND MOTIVATIONS | 第10-12页 |
| 1.2 RESEARCH BACKGROUND | 第12-20页 |
| 1.2.1 THE MULTI ROBOT'S SYSTEM RESEARCH BACKGROUND | 第13-18页 |
| 1.2.2 THE TASK DISTRIBUTION RESEARCH BACKGROUND | 第18-19页 |
| 1.2.3 THE RESEARCH BACKGROUND OF PATH PLANNING AND COMMUNICATION | 第19-20页 |
| 1.3 THE RESEARCH BACKGROUND ANALYSIS | 第20-22页 |
| 1.4 THE MAIN RESEARCH CONTENT | 第22-24页 |
| CHAPTER 2 RESEARCH ON POSITIONING MODEL OF VISION SYSTEM | 第24-36页 |
| 2.1 INTRODUCTION | 第24页 |
| 2.2 THE RELEVANCE OF THE RESEARCH IN THE FRAMEWORK OF THE EXPERIMENT ON THE MAZE SOLVING BY A MULTI-ROBOTS NAO | 第24页 |
| 2.3 COLOR SPACE AND IMAGE PREPROCESSING | 第24-27页 |
| 2.3.1 COLOR SPACE | 第24-26页 |
| 2.3.2 IMAGE PREPROCESSING | 第26-27页 |
| 2.4 RECOGNITION OF NAO PLATFORM | 第27-28页 |
| 2.5 POSITIONING OF NAO ROBOT | 第28-33页 |
| 2.5.1 NAO COORDINATE SYSTEM | 第29-31页 |
| 2.5.2 POSITIONING MODEL OF MONOCULAR VISION | 第31-33页 |
| 2.6 POSITIONING EXPERIMENT OF MONOCULAR VISION | 第33-35页 |
| 2.7 SUMMARY | 第35-36页 |
| CHAPTER 3 RESEARCH ON PATH PLANNING METHODS OF NAO ROBOTS | 第36-53页 |
| 3.1 INTRODUCTION | 第36页 |
| 3.2 THE RELEVANCE OF PATH PLANNING RESEARCH FOR MAZE SOLVING BY MULTI-ROBOTS NAO | 第36页 |
| 3.3 EVALUATION CRITERIA FOR PATH PLANNING | 第36-37页 |
| 3.4 CLASSIFICATION OF PATH PLANNING ALGORITHM | 第37-38页 |
| 3.5 ANALYSIS OF EXISTING PATH PLANNING ALGORITHMS | 第38-44页 |
| 3.5.1 TRADITIONAL ALGORITHMS | 第38-42页 |
| 3.5.2 GRAPHIC METHODS | 第42-43页 |
| 3.5.3 INTELLIGENT BIONICS ALGORITHM | 第43-44页 |
| 3.6 BASIC MODULES OF NAO ROBOT PATH PLANNING STRATEGY | 第44-47页 |
| 3.6.1 NAO ROBOT MAP CONSTRUCTION AND UPDATE | 第45页 |
| 3.6.2 OVERALL PATH PLANNING BASED ON ANT COLONY ALGORITHM | 第45-46页 |
| 3.6.3 LOCAL PATH PLANNING FOR NAO ROBOTS | 第46-47页 |
| 3.7 NAO ROBOTS BUILD APRE-MAP AND MAP REAL-TIME UPDATES | 第47-50页 |
| 3.7.1 ROBOTS SYNCHRONIZATION AND MAP CONSTRUCTION | 第47-49页 |
| 3.7.2 NAO ROBOT OBSTACLE AVOIDANCE MAP UPDATE | 第49-50页 |
| 3.8 THE COMMUNICATION MODULE AND ALGORITHMS BETWEEN NAO ROBOTS | 第50-51页 |
| 3.9 SUMMARY | 第51-53页 |
| CHAPTER 4 RESEARCH ON MAZE SOLVING ALGORITHM | 第53-63页 |
| 4.1 INTRODUCTION | 第53页 |
| 4.2 GENERAL SPECIFICATIONS | 第53-54页 |
| 4.3 CONSTRUCT A QUALIFIED MAZE | 第54页 |
| 4.4 SPECIFICATIONS OF NAO PLATFORM FOR SOLVING MAZE ALGORITHM BY SINGLE ROBOT | 第54-57页 |
| 4.5 MAZE SOLVING BY NAO MULTI-ROBOTS | 第57-62页 |
| 4.5.1 MAZE SOLVING BY MULTI-ROBOTS EXPERIMENTAL VERIFICATION | 第57-58页 |
| 4.5.2 THE FORMULA FOR CALCULATING THE DEPENDENCE OF THE TIME OF MAZE SOLVING ON THE NUMBER OF ROBOTS | 第58-59页 |
| 4.5.3 EXPERIMENT RESULTS CALCULATION BY MAZE SOLVING TIME DEPENDENCE FORMULA | 第59-62页 |
| 4.6 SUMMARY | 第62-63页 |
| CONCLUSION | 第63-65页 |
| REFERENCES | 第65-69页 |
| 致谢 | 第69页 |
