Obstacle avoidance and dribbling strategy for humanoid soccer robots

Ping Huan Kuo, Ya Fang Ho, Chih Chieh Sun, Tzuu-Hseng S. Li

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper mainly investigates the obstacle avoidance and dribbling strategy for humanoid soccer robot by using only monocular vision, where the local object is used for positioning and recognizing the obstacles. Then by the relation between the object and the robot, the position of the robot at the world coordinate could be figured out with the ameliorative particle filter. It would be more robust and perform well for the obstacle avoidance and dribbling strategy to apply the above information. An enhancement scheme of the particle filter is also proposed in the paper. Furthermore, a real-time control strategy is developed for dribbling ball and avoiding obstacles. Finally, experiments verify the accuracy and robustness of the local positioning system, and show the feasibility and validity of the proposed obstacle avoidance and dribbling strategy for humanoid soccer robots.

Original languageEnglish
Title of host publicationRobot Intelligence Technology and Applications 3 - Edition of the Selected Papers from the 3rd International Conference on Robot Intelligence Technology and Applications
EditorsWeimin Yang, Hyun Myung, Jong-Hwan Kim, Peter Sincak, Jun Jo
PublisherSpringer Verlag
Pages265-276
Number of pages12
ISBN (Print)9783319168401
DOIs
Publication statusPublished - 2015 Jan 1
Event3rd International Conference on Robot Intelligence Technology and Applications, RiTA 2014 - Beijing, China
Duration: 2014 Nov 62014 Nov 8

Publication series

NameAdvances in Intelligent Systems and Computing
Volume345
ISSN (Print)2194-5357

Other

Other3rd International Conference on Robot Intelligence Technology and Applications, RiTA 2014
CountryChina
CityBeijing
Period14-11-0614-11-08

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science(all)

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  • Cite this

    Kuo, P. H., Ho, Y. F., Sun, C. C., & Li, T-H. S. (2015). Obstacle avoidance and dribbling strategy for humanoid soccer robots. In W. Yang, H. Myung, J-H. Kim, P. Sincak, & J. Jo (Eds.), Robot Intelligence Technology and Applications 3 - Edition of the Selected Papers from the 3rd International Conference on Robot Intelligence Technology and Applications (pp. 265-276). (Advances in Intelligent Systems and Computing; Vol. 345). Springer Verlag. https://doi.org/10.1007/978-3-319-16841-8_25