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Self-localization Method Using Two Landmarks and Dead Reckoning for Autonomous Mobile Soccer Robots
Akira Motomura1, Takeshi Matsuoka2, and Tsutomu Hasegawa1
1Department of Intelligent Systems, Graduate School of Information Science and Electrical Engineering, Kyushu University, 6-1-10 Hakozaki, Higashi-ku, Fukuoka 812-0053, Japan
motomura@irvs.is.kyushu-u.ac.jp
hasegawa@irvs.is.kyushu-u.ac.jp
http://fortune.is.kyushu-u.ac.jp/
2Department of Electrical Engineering, Faculty of Engineering, Fukuoka University, 8-19-1 Nanakuma, Jonan-ku, Fukuoka 814-0180, Japan
matsuoka@ctrl.tec.fukuoka-u.ac.jp
http://ctrl.tec.fukuoka-u.ac.jp/
Abstract. We propose a new method of self-localization using two landmarks and dead reckoning for a soccer robot equipped with an omni-directional camera as a local vision sensor. This method requires low computational cost. Thanks to rapid process, the system can afford to run multiple localization process in parallel resulting robust and accurate localization. An experimental result in the field of Robocup Middle-size league indicates that the approach is reliable.
LNAI 3020, p. 526 ff.
lncs@springer.de
© Springer-Verlag Berlin Heidelberg 2004