2P1-B05 背景色を利用したマーカー色抽出とQ学習による全方位移動型ロボットの制御 : RoboCup小型リーグ

概要

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In this paper, we describe two improvements of our robot system made in preparation for competing in the RoboCup Small-Size League. First, we propose a color-recognition method that can be applied under the non-uniform lighting conditions observed in actual games. The basic idea of our proposal is to use the green color of the carpet surrounding the robot as a key for searching a database in order to find proper thresholds in HLS color space. Second, we propose a method for controlling omnidirectional moving robots. The method is based on learning each robot's movement properties. We exploit Q-learning to make the robot perform very simple tasks such as moving straight toward the goal. Our experiments demonstrated the effectiveness of employing these two methods.
一般社団法人日本機械学会の論文