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Adachi (OEI)
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Robomaster2018
1.
如何制作、哨兵机器人的火器管制? team FukuokaNiwaka @7oei ROBOMASTER 2018
2.
火器管制的構成(誤差補正の構成) 0.前提条件提示(機械、センサ等のパラメータを確認) 1.測量到目標的距離(ターゲットとの距離を推定) 2.校正行進間射撃誤差(自己移動速度に依存する着弾誤算の補正) 3.校正動目標射撃誤差(敵移動速度に依存する着弾誤差の補正) 4.未來前景(今後の展望)
3.
前提条件提示A(このロジックの目的) • 去年まではそうでもなかったが、今年から特に試合における哨兵ロ ボットの戦略的価値が上がった(詳しくはルールブック参照) • 哨兵ロボットには敵の攻撃を回避し確実に生き延びることが求めら れた •
よって常に回避運動を行う哨兵ロボットから敵ロボットを迎撃する必 要がある • 移動によって生じる射撃誤差を補正し、敵の得点有効エリアに着弾 する確立を高めるのがこのロジックの目的となる
4.
前提条件提示B(ロボットのスペック) • 移動は範囲はレールの上のみ、速度は2m/s前後 • 搭載センサはRGBカメラ一台(砲身のジンバルと同期) •
つまり砲身の向きが変われば視界も振り回される • 試合中に射出したい段数500発 • 試合中に哨兵が敵と遭遇する時間は多くて3分(180s) • つまり哨兵は敵と遭遇してる間球は連続的に撃っていたい (2.7rounds/s) • 止まる→計算→ジンバルふる→撃つ ではだめ • 常に最良の位置に視界ごとジンバルフリフリする必要がある→宇宙
5.
測量到目標的距離A(測距について考える) • 着弾誤差補正に目標座標との距離は必須 • デプスカメラ等の高尚なものはない(あるのは振り回されるRGBカメラ 1台) •
Pixelから距離見ようにもモーションブラーでがばがば • 素直に画像データから測距するのは無理そう • 砲身の角度から三角関数で距離わかるかも 𝜃 高低差 知りたい距離
6.
測量到目標的距離B(敵存在エリアの識別) • 砲身の角度から目標との距離を知る ためには前提として敵ロボットが存在 するエリアの高さ情報が必要になる • フィールドをモデル化してマシンのレー ル上の自己位置と砲身角度から計算 することができるがマイコンには重い •
そこで今回は右図のように哨兵ロボッ トが接敵する可能性があるエリアのみ 高低差を定義した • (書いてある数値はレール上と各エリア の高低差)
7.
測量到目標的距離C(測距) • カメラ画像内の目標座標認識Pixelからpixel/degでカメラ(砲身角度) との(ピッチ軸)相対角度を算出 • 砲身角度に相対角度を足して哨兵ロボットから見た目標の存在する ピッチ角を算出 •
三角関数で距離を算出 𝜃 高低差 知りたい距離
8.
校正行進間射撃誤差(自己移動速度に依存する着弾誤算の補正) • 自己速度によって生じるずれは射出角と移動方向 の角度差に依存するため移動によって生じるベク トルから誤差に有効な成分を抽出 • そのベクトルの大きさと目標との距離からpixel値 に変換し砲身のジンバルの追従制御の目標値に 補正を加える •
自己速度に依存する射撃誤差は 1.移動の力が軌道に影響して発生する誤差 2.照準してから射出するまでの自己位置の動で発生する誤差 𝐵𝑎𝑙𝑙 𝐼𝑛𝑗𝑒𝑐𝑡𝑖𝑜𝑛 𝑉𝑒𝑐𝑡𝑜𝑟 = 𝐵𝑎𝑙𝑙 𝐼𝑛𝑗𝑒𝑐𝑡𝑖𝑜𝑛 𝑈𝑛𝑖𝑡 𝑉𝑒𝑐𝑡𝑜𝑟 ∗ (𝐵𝑎𝑙𝑙 𝐼𝑛𝑗𝑒𝑐𝑡𝑖𝑜𝑛 𝑈𝑛𝑖𝑡 𝑉𝑒𝑐𝑡𝑜𝑟 ∙ 𝑆𝑒𝑙𝑓 𝑀𝑜𝑣𝑒 𝑉𝑒𝑐𝑡𝑜𝑟) 𝐿𝑎𝑛𝑑𝑖𝑛𝑔 𝐸𝑟𝑟𝑜𝑟 𝑉𝑒𝑐𝑡𝑜𝑟 = 𝑆𝑒𝑙𝑓 𝑀𝑜𝑣𝑒 𝑉𝑒𝑐𝑡𝑜𝑟 − 𝐵𝑎𝑙𝑙 𝐼𝑛𝑗𝑒𝑐𝑡𝑖𝑜𝑛 𝑉𝑒𝑐𝑡𝑜𝑟 今回は2番のみを想定
9.
校正動目標射撃誤差(敵移動速度に依存する着弾誤差の補正) • 今フレーム・前フレームの自己位置と敵ロボットの相対位置ベクトルを計算 • 自分の移動ベクトルと今フレーム・前フレームの敵ロボットとの相対位置ベ クトルから敵ロボットの移動ベクトルを計算 •
物理的制約からおおよその着弾時敵座標を計算 𝐸𝑛𝑒𝑚𝑦 𝑀𝑜𝑣𝑒 𝑉𝑒𝑐𝑡𝑜𝑟 = −𝐿𝑎𝑠𝑡 𝐸𝑛𝑒𝑚𝑦 𝑃𝑜𝑖𝑛𝑡 𝑉𝑒𝑐𝑡𝑜𝑟 + 𝑆𝑒𝑙𝑓 𝑀𝑜𝑣𝑒 𝑉𝑒𝑐𝑡𝑜𝑟 𝐶𝑎𝑚𝑒𝑟𝑎 𝐹𝑟𝑎𝑚𝑒 𝑅𝑎𝑡𝑒 + 𝐸𝑛𝑒𝑚𝑦 𝑃𝑜𝑖𝑛𝑡 𝑉𝑒𝑐𝑡𝑜𝑟
10.
未來前景(今後の展望) • ぶっちゃけ哨兵は逃げ回れてればよくて迎撃する必要ないかも • むしろ球捨てて回避加速度ブーストするのもありかも •
動目標射撃はむしろ相手の哨兵を狙うのに応用できそう • デプスカメラ付けたい。D435付けたい。付けて下さいお願いします。 • 導入頑張りますので • 遠距離精密とかもやりたい • つーか着弾観測ちゃんとしたい • 回避アルゴリズムにも手を出したい
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