Fuzzy self-localization using natural features in the four-legged league

• In the RoboCup four-legged league, robots mainly rely on artificial coloured landmarks for localisation. As it was done in other leagues, artificial landmarks will soon be removed as part of the RoboCup push toward playing in more natural environments. Unfortunately, the robots in this league have very unreliable odometry due to poor modeling of legged locomotion and to undetected collisions. This makes the use of robust sensor-based localization a necessity. We present an extension of our previous technique for fuzzy self-localization based on artificial landmarks, by including observations of features that occur naturally in the soccer field. In this paper, we focus on the use of corners between the field lines. We show experimental results obtained using these features together with the two nets. Eventually, our approach should allow us to migrate from landmarks-only to line-only localisation.

Ämnesord

NATURVETENSKAP  -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)

NATURAL SCIENCES  -- Computer and Information Sciences -- Computer Sciences (hsv//eng)

Nyckelord

Autonomous robots

fuzzy logic

image processing

localization

state estimation

Datalogi

Computer and Systems Science

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