当前位置: X-MOL 学术Knowl. Eng. Rev. › 论文详情
Localization and obstacle avoidance in soccer competition of humanoid robot by gait and vision system
Knowledge Engineering Review ( IF 0.814 ) Pub Date : 2019-11-20 , DOI: 10.1017/s0269888919000110
Shu-Yin Chiang; Jia-Huei Lu

In this study, we designed a localization and obstacle avoidance system for humanoid robots in the Federation of International Robot-soccer Association (FIRA) HuroCup united soccer competition event. The localization is implemented by using grid points, gait, and steps to determine the positions of each robot. To increase the localization accuracy and eliminate the accumulated distance errors resulting from step counting, the localization is augmented with image pattern matching using a system model. The system also enables the robot to determine the ball’s position on the field using a color model of the ball. Moreover, to avoid obstacles, the robots calculate the obstacle distance using data extracted from real-time images and determine a suitable direction for movement. With the integration of this accurate self-localization algorithm, ball identification scheme, and obstacle avoidance system, the robot team is capable of accomplishing the necessary tasks for a FIRA soccer game.
更新日期:2020-01-04

 

全部期刊列表>>
化学/材料学中国作者研究精选
Springer Nature 2019高下载量文章和章节
《科学报告》最新环境科学研究
ACS材料视界
自然科研论文编辑服务
中南大学国家杰青杨华明
剑桥大学-
中国科学院大学化学科学学院
材料化学和生物传感方向博士后招聘
课题组网站
X-MOL
北京大学分子工程苏南研究院
华东师范大学分子机器及功能材料
中山大学化学工程与技术学院
试剂库存
天合科研
down
wechat
bug