Hierarchical Reactive Control for Soccer Playing Humanoid Robots

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Self-localization based on Image Features of Omni-directional Image

Omni-vision system using an omni-mirror is popular to acquire environment information around an autonomous mobile robot. In RoboCup soccer middle size robot league in particular, self-localization methods based on white line extraction on the soccer field are popular. We have studied a self-localization method based on image features, for example, SIFT and SURF, so far. Comparative studies with a conventional self-localization method based on white line extraction are conducted. Compared to the self-localization method based on white line extraction, the method based on image feature can be applied to a general environment with a compact database

Fast computational processing for mobile robots' self-localization

This paper intends to present a different approach to solve the Self-Localization problem regarding a RoboCup’s Middle Size League game, developed by MINHO team researchers. The method uses white field markings as key points, to compute the position with least error, creating an error-based graphic where the minimum corresponds to the real position, that are computed by comparing the key (line) points with a precomputed set of values for each position. This approach allows a very fast local and global localization calculation, allowing the global localization to be used more often, while driving the estimate to its real value. Differently from the majority of other teams in this league, it was important to come up with a new and improved method to solve the traditional slow Self-Localization problem.This work was developed at the Laboratório de Automação e Robótica by MINHO team´s researching and developing team, at University of Minho, under the supervision of Professor A. Fernando Ribeiro and A. Gil Lopes. The knowledge exchanging between the RoboCup’s MSL teams and community contributed greatly for the development of this work. This work has been supported by COMPETE: POCI-01- 0145-FEDER-007043 and FCT – Fundação para a Ciência e Tecnologia within the Project Scope: UID/CEC/00319/2013.info:eu-repo/semantics/publishedVersio

Motion control of mobile autonomous robots using non-linear dynamical systems approach

This paper presents a solution to the problem of motion control of an autonomous robot, moving in a dynamical and unstable environment. It is based on non-linear dynamical systems, modelling the state variables that define the motion of a robot under an omnidirectional platform, like its direction of navigation and velocity. The approach used, is based on a set of non-linear differential equations that model the evolution of state variables along time, based on the concept of attractors and repellers. In the official RoboCup Middle Size League field, a target is used to attract the robot to a certain position (could be the ball or a desired position to receive the ball), while a repeller could move the robot away from its original path (given by obstacles in the surrounding environment). The research was firstly carried out in a computational simulation environment and later on with robots in a real environmentThis work was developed at the Automation and Robotics Laboratory by MINHO R&D TEAM, University of Minho, under the supervision of Professor A. Fernando Ribeiro and A. Gil Lopes. The knowledge exchanging between the RoboCup’s MSL teams and community contributed greatly for the development of this work. This work has been supported by COMPETE: POCI-01-0145-FEDER-007043 and FCT – Fundação para a Ciência e Tecnologia within the Project Scope: UID/CEC/00319/2013.info:eu-repo/semantics/publishedVersio