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: [email protected]
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.210521.015
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 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/).