1P1-B20 ロボカップサッカーロボットにおけるゴールポスト認識による自己位置推定手法

概要

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This paper presents a novel Self-Localization method for RoboCup soccer robot. For the robots, self-localization methods with using white lines have been proposed and generally used. However, these methods have a weakness for lack of white line information and have possibility that the robot cannot calculate an accurate position of the goal because of a mistakenly calculated self location. In this paper, a self localization method based on goal posts recognition is proposed. The robot can calculate their position on the absolute coordinate independently of precision of white line detection. By means of accurately detecting of goal posts, the robot can move normally without specific color of the goal. In this method, there are some steps of conditionality about distance and angle. To verify the effectiveness of the proposed method, some experiments including match at RoboCup MSL using a GK robot were carried out.
2009-05-25