Dual-Circle Self-Localization of Autonomous Soccer Robots with Omnidirectional Vision Robotics and Autonomous Systems

dc.contributor 國立臺灣師範大學電機工程學系 zh_tw
dc.contributor.author Chen-Chien Hsu en_US
dc.contributor.author Ching-Chang Wong en_US
dc.contributor.author Hung-Chih Teng en_US
dc.contributor.author Cheng-Yao Ho en_US
dc.date.accessioned 2014-10-30T09:28:32Z
dc.date.available 2014-10-30T09:28:32Z
dc.date.issued 2012-06-01 zh_TW
dc.description.abstract A self-localization method entitled Dual-Circle Self-Localization (DCSL) for mobile robots in a soccer robot game filed is proposed in this paper. To evaluate the performance of the proposed localization method, an omnidirectional vision device is installed on top of the robot to capture images for recognizing objects in the environment via a hybrid scanning method. Three reliable objects recognized are then chosen as landmarks to calculate the position of the robot in the game field via the proposed DCSL based on relative positions between the robot and landmarks in the omnidirectional images. Because simple geometric manipulations are only required via the DCSL algorithm, localization efficiency can be significantly improved while maintaining a relatively smaller mean error in comparison to Monte Carlo Localization techniques as demonstrated in both simulation results and practical experiments in this paper. en_US
dc.identifier ntnulib_tp_E0607_01_028 zh_TW
dc.identifier.issn 0253-3839 zh_TW
dc.identifier.uri http://rportal.lib.ntnu.edu.tw/handle/20.500.12235/32122
dc.language en zh_TW
dc.publisher Taylor & Francis en_US
dc.relation Journal of the Chinese Institute of Engineers, 35(6). en_US
dc.title Dual-Circle Self-Localization of Autonomous Soccer Robots with Omnidirectional Vision Robotics and Autonomous Systems en_US
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