融合测程法与视觉信息的足球机器人自定位方法

摘要

针对足球机器人自定位问题,提出一种融合测程法与视觉信息的定位方法.方法综合考虑两种信息的特点,有效实现优势互补:一方面,针对视觉定位易出现的歧义,利用测程法获得的定位结果予以有效消解；另一方面,随着运动,测程法定位易出现误差的累积,利用消歧后的视觉定位结果加以动态修正.最后,在Webots模拟平台上进行的机器人球场定位实验表明文中方法的有效性.%A method is proposed which combines odometry and visual information for robot self-localization in soccer field. The method makes effective use of these two kinds of information by considering their characteristics simultaneously. On the one hand, odometry is used to effectively deal with the ambiguity which is prone to appear in landmark based visual localization. And on the other hand, the disambiguated visual localization results are useful to dynamically correct the accumulative odometry errors which are caused by robot motion. Finally, experiments are conducted on the Webots simulation platform and the results show the effectiveness of the proposed method.