Robot orientation with histograms on MSL

• Autor(es): Ribeiro, António Fernando ; Lopes, Gil ; Pereira, Bruno ; Silva, João ; Ribeiro, Paulo Rogério de Almeida ; Costa, João ; Silva, Sérgio ; Rodrigues, João ; Trigueiros, Paulo
• Data: 2012
• Identificador Persistente: http://hdl.handle.net/1822/15261
• Origem: RepositóriUM - Universidade do Minho
• Assunto(s): Robot orientation; Histogram; Robot localization; Middle size league
• Tipo de Documento: Artigo
• Idioma: Inglês

Descrição

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.