教師資料查詢 | 類別: 會議論文 | 教師: 夏至賢 HSIA,CHIH-HSIEN (瀏覽個人網頁)

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
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