| Title: | OS22-1 Robustness Verification Against Noise of Self-localization Method Using Omni-directional Camera for Soccer Robot |
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| Publication: | ICAROB2021 |
| Volume: | 26 |
| Pages: | 393-396 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2021.OS22-1 |
| Author(s): | Yuehang Ma, Kaori Watanabe, Hidekazu Suzuki |
| Publication Date: | January 21, 2021 |
| Keywords: | Robustness Against Noise, 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 adversarial environments1. In the field of RoboCup, selflocalization technique is important to estimate own position including goal and other robot positions and to decide strategy. This paper presents a self-localization technique using an omni-directional camera for an autonomous soccer robot. We propose the self-localization method with white line information of soccer field, and recognize the robot position by optimizing the fitness function using Genetic Algorithm. Moreover, we also verify the robustness of the proposed method against noise through experiments. |
| PDF File: | https://alife-robotics.co.jp/members2021/icarob/data/html/data/OS/OS22/OS22-1.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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