Efficient Target Localization System for RoboCup
| Autor: | Shih-Hung Chang, 張世宏 |
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| Rok vydání: | 2010 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 98 Robot soccer game is one of the significant and interesting topics among most of the artificial intelligence researches. Following the humanoid soccer robot basic movement and strategy actions, the robot is operated in a dynamic and unpredictable contest environment and must recognize the position of itself in the field all the time. Therefore, the localization system of the soccer robot becomes the key technology to improve the performance. This work proposes a new self-localization approach, Adaptive Vision-Based Self-Localization System (AVBSLS), for humanoid robot to integrate the information from the pan/tilt motors and a single camera to accomplish the self-localization. The proposed approach uses the trigonometric function to find the coarse location of the robot and further adopt the measuring artificial neural network technique to adjust the humanoid robot position adaptively. This research also focuses on how to establish an efficient robot localization system by using any type of CCD cameras. Generally the image-based localization system needs the intrinsic parameters. For the CCD camera adjustment, we propose a systematic method to measure the intrinsic parameters. By this approach, any type of CCD camera can be used to calculate the robot position precisely. The experimental results indicate that the average accuracy ratio of the localization is 92.3% under frame rate of 15 frames per second (fps). |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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