Journal of Robotics, Networking and Artificial Life

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Volume 7, Issue 2, September 2020, Pages 98 - 102

Real-time Self-localization using Model-based Matching for Autonomous Robot of RoboCup MSL

Authors
Kaori Watanabe1, *, Yuehang Ma1, 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: watanabe.kougei.karakuri@gmail.com
Corresponding Author
Kaori Watanabe
Received 3 December 2019, Accepted 20 May 2020, Available Online 2 June 2020.
DOI
10.2991/jrnal.k.200528.005How to use a DOI?
Keywords
Self-localization; RoboCup middle size league; soccer robot; genetic algorithm
Abstract

This paper presents a self-localization technique using an omni-directional camera for an autonomous soccer robot. The position information of the robot is important for strategic behavior and cooperative operation. Therefore, we have proposed the self-localization method which generates the searching space based on a model-based matching with white line information of soccer field, and which recognizes the robot position by optimizing the fitness function using genetic algorithm.

Copyright
© 2020 The Authors. Published by Atlantis Press SARL.
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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<Previous Article In Issue
Next Article In Issue>
Journal
Journal of Robotics, Networking and Artificial Life
Volume-Issue
7 - 2
Pages
98 - 102
Publication Date
2020/06/02
ISSN (Online)
2352-6386
ISSN (Print)
2405-9021
DOI
10.2991/jrnal.k.200528.005How to use a DOI?
Copyright
© 2020 The Authors. Published by Atlantis Press SARL.
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

risenwbib
TY  - JOUR
AU  - Kaori Watanabe
AU  - Yuehang Ma
AU  - Hidekazu Suzuki
PY  - 2020
DA  - 2020/06/02
TI  - Real-time Self-localization using Model-based Matching for Autonomous Robot of RoboCup MSL
JO  - Journal of Robotics, Networking and Artificial Life
SP  - 98
EP  - 102
VL  - 7
IS  - 2
SN  - 2352-6386
UR  - https://doi.org/10.2991/jrnal.k.200528.005
DO  - 10.2991/jrnal.k.200528.005
ID  - Watanabe2020
ER  -