Verification of Robustness against Noise and Moving Speed in Self-localization Method for Soccer Robot
- https://doi.org/10.2991/jrnal.k.210521.015How to use a DOI?
- Robustness against noise, robustness against moving speed, self-localization, RoboCup Middle Size League, soccer robot, genetic algorithm
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.
- © 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 - 2021/06/06 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 -