會議論文

標題 Efficient Neural Network Approach of Self-Localization for Humanoid Robot
學年 98
學期 1
發表日期 2009/12/03
作品名稱 Efficient Neural Network Approach of Self-Localization for Humanoid Robot
作品名稱(其他語言)
著者 Chang, Shih-hung; Chang, Wei-hsuan; Hsia, Chih-hsien; Ye, Fun; Chiang, Jen-shiun
作品所屬單位 淡江大學資訊工程學系
出版者 Taipei : Institute of electrical and electronics engineers (IEEE)
會議名稱 JCPC 2009 Joint Conferences on Pervasive Computing
會議地點 Taipei, Taiwan
摘要 Robot soccer game is one of the significant and interesting areas among most of the autonomous robotic 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 ofitselfin the field all the time. Therefore, the localization system of the soccer robot becomes the key technology to improve the performance. This work proposes efficient approachesfor humanoid robot and uses one landmark to accomplish the self-localization. This localization mechanism integrates the information from the pan/tilt motors and a single camera on the robot head together with the artificial neural network technique to adaptively adjust the humanoid robot position. The neural network approach can improve the precision of the localization. The experimental results indicate that the average accuracy ratio is 88.5% underframe rate of 15 frames per second (fps), and the average error for the distance between the actual position and the measured position ofthe object is 6.68cm.
關鍵字 Self-Localization;Humanoid Soccer Robot;Precision;Neural Network;Accuracy Ration
語言 英文
收錄於
會議性質 國際
校內研討會地點 淡水校園
研討會時間 20091203~20091205
通訊作者
國別 中華民國
公開徵稿 Y
出版型式
出處 Proceedings of the 2009 joint conferences on pervasive computing, pp.149-154