Design and Implementation of Self-Localization System for Omnidirectional Vision-based Soccer Robot

• Main Authors: Cheng-Yao Ho, 何丞堯
• Other Authors: Ching-Chang Wong
• Format: Others
• Language: zh-TW
• Published: 2009
• Online Access: http://ndltd.ncl.edu.tw/handle/37313298683183640087

碩士 === 淡江大學 === 電機工程學系碩士班 === 97 === In this thesis, the Monte-Carlo Localization (MCL) algorithm is applied to solve the self-localization problem for soccer robots which have an omnidirectional vision system. For the sensor model of MCL algorithm, an omnidirectional vision system is mounted on the center of the robot to detect color features of the environment. In the motion model, an optical encoder is utilized as the odometer sensor. The database of the color features is built for the feature scan matching by adopting the method of mixture probability distribution. Based on the motion model and the sensor model of the MCL algorithm, the robot system can locate its position in the environment by updating its position belief recursively.