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

Kaori Watanabe, Yuehang Ma, Hidekazu Suzuki
2020 Journal of Robotics, Networking and Artificial Life (JRNAL)  
Keywords Self-localization RoboCup middle size league soccer robot genetic algorithm A B S T R A C T 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 selflocalization method which generates the searching space based on a model-based matching with white line information of soccer field, and which
more » ... ield, and which recognizes the robot position by optimizing the fitness function using genetic algorithm.
doi:10.2991/jrnal.k.200528.005 fatcat:m7envglrgve4hdnk3swy7xkusi