Robot orientation with histograms on MSL
One of the most important tasks on robot soccer is localization. The team robots should self-localize on the 18 x 12 meters soccer field. Since a few years ago the soccer field has increased and the corner posts were removed and that increased the localization task complexity. One important aspect t...
| Main Author: | |
|---|---|
| Other Authors: | , , , , , , , |
| Format: | bookPart |
| Language: | eng |
| Published: |
2012
|
| Subjects: | |
| Online Access: | http://hdl.handle.net/1822/15261 |
| Country: | Portugal |
| Oai: | oai:repositorium.sdum.uminho.pt:1822/15261 |
| Summary: | One of the most important tasks on robot soccer is localization. The team robots should self-localize on the 18 x 12 meters soccer field. Since a few years ago the soccer field has increased and the corner posts were removed and that increased the localization task complexity. One important aspect to take care for a proper localization is to find out the robot orientation. This paper proposes a new technique to calculate the robot orientation. The proposed method consists of using a histogram of white-green transitions (to detect the lines on the field) to know the robot orientation. This technique does not take much computational time and proves to be very reliable. |
|---|