一种中型自主足球机器人自定位方法

摘要

针对RoboCup中型自主足球机器人比赛中的自定位要求,提出了一种新的自定位方法.利用电子罗盘获取航向角度,根据航向角度将全向视觉获取的白线初始信息转换为白线的半全局信息；利用白线实垂交类型、辅助白线的距离与角度信息,结合定位区域优先度算法确定机器人所在的最终定位区域；根据定位区域内两条实垂交白线的交点位置关系得到机器人在场地中的位置,实现自定位,并讨论该方法对全向视觉观测范围的要求.实际场地的实验结果,验证了该方法的有效性.%According to the self-localization requirement of RoboCup middle autonomous soccer robot, this paper presents a new self-localization method.Obtain the orientation by electronic compass,and change the white line information gained by all-directional vision, to past-global information through the orientation.Use the while line true vertical intersection type, the length and distance of assistant white line, localization area priority algorithm to identify the best area for localization. Obtaine the pose by the information of the intersection point, which belongs to the true vertical intersection while line.This paper discusses the observation range of all-directional vision for this method.The experiments show the validity for the presented method.