Ball Distance Estimation and Tracking System of Humanoid Soccer Robot
Modern Humanoid Soccer Robots in uncontrolled environments need to be based on vision and versatile. This paper propose a method for object measurement and ball tracking method using Kalman Filter for Humanoid Soccer, because the ability to accurately tra
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Abstract. Modern Humanoid Soccer Robots in uncontrolled environments need to be based on vision and versatile. This paper propose a method for object measurement and ball tracking method using Kalman Filter for Humanoid Soccer, because the ability to accurately track a ball is one of the important features for processing high-definition image. A color-based object detection is used for detecting a ball while PID controller is used for controlling pan tilt camera system. We also modify the robots controller CM-510 in order able to communicate efficiently using main controller. The proposed method is able to determine and estimate the position of a ball and kick the ball correctly with the success percentage greater than 90%. We evaluate and present the performance of the system.
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Introduction
The humanoid soccer robots are popular nowadays for the entertainment or contests such as RoboCup Humanoid League. The important features of humanoid soccer, such as accuracy, robustness, efficient determination and tracking of ball size and location; has proven to be a challenging subset of this task and the focus of much research. With the evolution of robotics hardware and subsequent advances in processor performance in recent years, the temporal and spatial complexity of feature extraction algorithms to solve this task has grown[1]. In the case of Humanoid soccer, vision systems are one of the main sources for environment interpretation. Many problems have to be solved before having a fully featured soccer player. First of all, the robot has to get information from the environment, mainly using the camera. It must detect the ball, goals, lines and the other robots. Having this information, the robot has to self-localize and decide the next action: move, kick, search another object, etc. The robot must perform all these tasks very fast in order to be reactive enough to be competitive in a soccer match. It makes no sense within this environment to have a good localization method if that takes several seconds to compute the robot position or to decide the next movement in few seconds based on the old perceptions[2]. At the same time many other topics like human-machine interaction, robot cooperation and mission and behavior control give humanoid robot soccer a higher level of complexity like no any other robots[3]. So the high speed processor with efficient algorithms is needed for this issue. Linawati et al. (Eds.): ICT-EurAsia 2014, LNCS 8407, pp. 170–178, 2014. c IFIP International Federation for Information Processing 2014
Ball Distance Estimation and Tracking System of Humanoid Soccer Robot
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One of the performance factors of a humanoid soccer is that it is highly dependent on its tracking ball and motion ability. The vision module collects information that will be the input for the reasoning module that involves the development of behaviour control. Complexity of humanoid soccer makes necessary playing with the development of complex behaviours, for example situations of coordination or differ rent role assignment du
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