Obstacle avoidance and dribbling strategy for humanoid soccer robots

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

研究成果: Conference contribution

摘要

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.

原文English
主出版物標題Robot Intelligence Technology and Applications 3 - Edition of the Selected Papers from the 3rd International Conference on Robot Intelligence Technology and Applications
編輯Weimin Yang, Hyun Myung, Jong-Hwan Kim, Peter Sincak, Jun Jo
發行者Springer Verlag
頁面265-276
頁數12
ISBN(列印)9783319168401
DOIs
出版狀態Published - 2015 一月 1
事件3rd International Conference on Robot Intelligence Technology and Applications, RiTA 2014 - Beijing, China
持續時間: 2014 十一月 62014 十一月 8

出版系列

名字Advances in Intelligent Systems and Computing
345
ISSN(列印)2194-5357

Other

Other3rd International Conference on Robot Intelligence Technology and Applications, RiTA 2014
國家China
城市Beijing
期間14-11-0614-11-08

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science(all)

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