'Institute of Electrical and Electronics Engineers (IEEE)'
Doi
Abstract
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
