Real-time Self-localization using Model-based Matching for Autonomous Robot of RoboCup MSL
Kaori Watanabe, Yuehang Ma, Hidekazu Suzuki · Journal of Robotics Networking and Artificial Life · 2020
This paper presents a self-localization technique using an omni-directional camera for an autonomous soccer robot. The position information of the robot is important for strategic behavior and cooperative operation. Therefore, we have proposed the self-localization method which generates the searching space based on a model-based matching with white line information of soccer field, and which recognizes the robot position by optimizing the fitness function using genetic algorithm.