数字罗盘在足球机器人守门员位姿控制中的应用  

Application of digital compass in the goalkeeper pose control of robot soccer

作　　者：许大好[1] 丁永前[1] 

机构地区：[1]南京农业大学工学院,南京210031

出　　处：《国外电子测量技术》2008年第10期50-52,56,共4页Foreign Electronic Measurement Technology

基　　金：江苏省农机局科研启动基金(gzx04008)

摘　　要：可自纠位的直线行走是足球机器人守门员的重要功能,为实现此功能,通常的做法是通过视觉同时识别多个目标实现机器人自身的全局定位,从而确定机器人自身的方位角。本文在RoboCup中型组足球机器人开发平台上,应用数字罗盘获取机器人的航向角,融合机器人的视觉信息,在识别一个参考路标的情况下实现足球机器人守门员的全局定位。根据机器人的全局位姿坐标可以实现守门员在门前球门区域的直线挡球功能,实验结果证明方法是可行的。Walking a straight line with self-rectification in front of the goal area is an important function of the Goalkeeper. To realize this function, the usual practice is to visually identify multiple targets simultaneously to achieve the global self-localization of the robot, through which the heading angle of the robot can be determined. The heading angle of the robot can be achieved by applying the digital compass at the development platform of middle sized league robot soccer of RoboCup. Integrating the robot visual information and the heading angle, the glohal localization was realized in case of having recognized any reference landmark. According to the global pose coordinates, the goal keeper, moving at the straight line in front of the goal area, can achieve the function of blocking the ball. The experiment proved the feasibility of the method.

关 键 词：数字罗盘 ROBOCUP中型组足球机器人 全局定位 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]