基于磁力计标定的RoboCup仿人足球机器人方向角测量方法研究

Research on the Measurement of Orientation Angle of RoboCup Humanoid Robot Based on Magnetometer Calibration

随着RoboCup仿人足球赛规则的修改,机器人已无法通过视觉信息分辨双方球门,使用磁力计是解决这一问题的方案之一。磁力计受到机器人舵机和电路的极大干扰,必须于使用前进行标定。针对磁力计应用中的误差干扰问题,详尽分析了磁力计误差来源和误差畸变,设计了包含误差拟合与磁力计校正两步骤的误差标定方法,实现了机器人方向角的测量,并进行了实验验证。实验结果表明,基于磁力计标定的RoboCup仿人机器人方向角测量方法精度不超过3.5°。

Since the update of the rules of RoboCup Soccer Humanoid League, robots can never distinguish the two goals purely from vision information. To solve this problem, magnetometer is one of the choices. Because of the big distortion from the joint motors and circuits, the magnetometer must be calibrated before use. According to the error problem of magnetometer, the sources and effects of magnetometer error are analyzed. A two-step magnetometer calibration algorithm, which includes error fitting and magnetometer alignment, is designed. The orientation angle measurement method is realized. The method is verified by experiments. According to the experiments, the precision of the orientation angle measurement method is no larger than 3.5%.