Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/18820
Title: Self-Localization of Humanoid Robot in a Soccer Field
Authors: TIAN BO
Keywords: humanoid robot, particle filter, localization, RoboCup, fish eye lens
Issue Date: 30-Mar-2010
Source: TIAN BO (2010-03-30). Self-Localization of Humanoid Robot in a Soccer Field. ScholarBank@NUS Repository.
Abstract: RoboCup is an annual international robotics competition that encourages the research and development of artificial intelligence and robotics. This thesis presents the algorithm developed for self-localization of small-size humanoid robots, RO-PE (RObot for Personal Entertainment) series, which participate in RoboCup Soccer Humanoid League (Kid-Size). Localization is the most fundamental problem to providing a mobile robot with autonomous capabilities. The problem of robot localization has been studied by many researchers in the past decades. In recent years, many researchers adopt the particle filter algorithm for localization problem. In this thesis, we implement the particle filter on our humanoid robot to achieve self-localization. The algorithm is optimized for our system. We use robot kinematic to develop the motion model. The vision model is also built based on the physical characteristics of the onboard camera. We simulate the particle filter algorithm in MatLab? to validate the effectiveness of the algorithm and develop a new switching particle filter algorithm to perform the localization. To further illustrate the effectiveness of the algorithm, we implement the algorithm on our robot to realize self-positioning capability.
URI: http://scholarbank.nus.edu.sg/handle/10635/18820
Appears in Collections:Master's Theses (Open)

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