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: [email protected]
Corresponding Author
Kaori Watanabe
Received 3 December 2019, Accepted 20 May 2020, Available Online 2 June
2020.
DOI
https://doi.org/10.2991/jrnal.k.200528.005
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 ALife Robotics Corp. Ltd.
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/).