期刊論文

標題 Adaptive vision-based self-localization system for humanoid robot of RoboCup
學年 101
學期 2
出版(發表)日期 2013/03/01
作品名稱 Adaptive vision-based self-localization system for humanoid robot of RoboCup
作品名稱(其他語言)
著者 Hsia, Chih-Hsien; Chiang, Jen-Shiun; Chang, Shih-Hung
單位 淡江大學電機工程學系
出版者 Kumamoto: I C I C International
著錄名稱、卷期、頁數 International Journal of Innovative Computing, Information and Control 9(3), pp.991-1012
摘要 Robotic soccer games represent the most significant form of research in artificial intelligence. Using the humanoid soccer robot’s basic movement and strategic actions, the robot takes part in a dynamic and unpredictable contest and must recognize its own position on the field at all times. Therefore, the localization system for the soccer robot represents the key technology for improving its performance. This work proposes a new approach for self-localization, an Adaptive Vision-Based Self-Localization System (AVBSLS), which allows the humanoid robot to integrate the information from the pan/tilt motors and a single camera to achieve self-localization. The proposed approach uses a measuring artificial neural network technique to adjust the position of the humanoid robot. A systematic method to measure the intrinsic parameters is proposed for the CCD camera adjustment. Using this approach, any type of CCD camera can be used to precisely calculate the robot’s position. The experimental results indicate that the average accuracy of the localization is 92.3% for a frame rate of 15 frames per second (FPS).
關鍵字 Soccer robot; Adaptive vision-based self-localization system (AVBSLS); Humanoid robot
語言 英文
ISSN 1349-4198
期刊性質 國外
收錄於 SCI;
產學合作
通訊作者 Hsia, Chih-Hsien
審稿制度
國別 日本
公開徵稿
出版型式 電子版;紙本;