Journal of Robotics, Networking and Artificial Life

Volume 8, Issue 1, June 2021, Pages 66 - 71

Verification of Robustness against Noise and Moving Speed in Self-localization Method for Soccer Robot

Authors
Yuehang Ma1, *, Kaori Watanabe1, Hitoshi Kono2, Hidekazu Suzuki2
1Graduate School of Engineering, Tokyo Polytechnic University, 1583 Iiyama, Atsugi, Kanagawa 243-0297, Japan
2Faculty of Engineering, Tokyo Polytechnic University, 1583 Iiyama, Atsugi, Kanagawa 243-0297, Japan
*Corresponding author. Email: yuehang.ma@gmail.com
Corresponding Author
Yuehang Ma
Received 13 November 2020, Accepted 22 April 2021, Available Online 6 June 2021.
DOI
https://doi.org/10.2991/jrnal.k.210521.015How to use a DOI?
Keywords
Robustness against noise, robustness against moving speed, self-localization, RoboCup Middle Size League, soccer robot, genetic algorithm
Abstract

The main focus of the RoboCup competitions is the game of football (soccer), where the research goals concern cooperative multi-robot and multi-agent systems in dynamic environments. In RoboCup, self-localization techniques are crucial for robots to estimate their own position as well as the position of the goal and other robots before deciding on a strategy. This paper presents a self-localization technique using an omnidirectional camera for an autonomous soccer robot. We propose a self-localization method that uses the information on the white lines of the soccer field to recognize the robot position by optimizing the fitness function using a genetic algorithm. Through experiments we verify the robustness of the proposed method against noise and moving speed.

Copyright
© 2021 The Authors. Published by Atlantis Press B.V.
Open Access
This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).

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Journal
Journal of Robotics, Networking and Artificial Life
Volume-Issue
8 - 1
Pages
66 - 71
Publication Date
2021/06
ISSN (Online)
2352-6386
ISSN (Print)
2405-9021
DOI
https://doi.org/10.2991/jrnal.k.210521.015How to use a DOI?
Copyright
© 2021 The Authors. Published by Atlantis Press B.V.
Open Access
This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

TY  - JOUR
AU  - Yuehang Ma
AU  - Kaori Watanabe
AU  - Hitoshi Kono
AU  - Hidekazu Suzuki
PY  - 2021
DA  - 2021/06
TI  - Verification of Robustness against Noise and Moving Speed in Self-localization Method for Soccer Robot
JO  - Journal of Robotics, Networking and Artificial Life
SP  - 66
EP  - 71
VL  - 8
IS  - 1
SN  - 2352-6386
UR  - https://doi.org/10.2991/jrnal.k.210521.015
DO  - https://doi.org/10.2991/jrnal.k.210521.015
ID  - Ma2021
ER  -