Skip to main content
SpringerLink
Log in

Obstacle Avoidance and Dribbling Strategy for Humanoid Soccer Robots

  • Conference paper
Robot Intelligence Technology and Applications 3

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 345))

  • 3851 Accesses

Abstract

This paper mainly investigates the obstacle avoidance and dribbling strategy for humanoid soccer robot by using only monocular vision, where the local object is used for positioning and recognizing the obstacles. Then by the relation between the object and the robot, the position of the robot at the world coordinate could be figured out with the ameliorative particle filter. It would be more robust and perform well for the obstacle avoidance and dribbling strategy to apply the above information. An enhancement scheme of the particle filter is also proposed in the paper. Furthermore, a real-time control strategy is developed for dribbling ball and avoiding obstacles. Finally, experiments verify the accuracy and robustness of the local positioning system, and show the feasibility and validity of the proposed obstacle avoidance and dribbling strategy for humanoid soccer robots.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 169.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 219.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Messom, C.H., Sen Gupta, G., Demidenko, S.: Hough Transform Run Length Encoding for Real-Time Image Processing. In: Proceedings of the IEEE Instrumentation and Measurement Technology Conference, IMTC 2005, pp. 2198–2202 (2005)

    Google Scholar 

  2. Davison, A.J., Reid, I.D., Molton, N.D., Stasse, O.: MonoSLAM: Real-Time Single Camera SLAM. IEEE Transactions on Pattern Analysis and Machine Intelligence 29, 1052–1067 (2007)

    Article  Google Scholar 

  3. Schmudderich, J., Willert, V., Eggert, J., Rebhan, S., Goerick, C., Sagerer, G., Korner, E.: Estimating Object Proper Motion Using Optical Flow, Kinematics, and Depth Information. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics 38, 1139–1151 (2008)

    Article  Google Scholar 

  4. Gevers, T., Stokman, H.: Classifying Color Edges in Video into Shadow-Geometry, Highlight, or Material Transitions. IEEE Transactions on Multimedia 5, 237–243 (2003)

    Article  Google Scholar 

  5. Sen Gupta, G., Bailey, D.: Discrete YUV Look-Up Tables for Fast Colour Segmentation for Robotic Applications. In: Canadian Conference on Electrical and Computer Engineering, CCECE, pp. 963–968 (2008)

    Google Scholar 

  6. Chang, C.-M.: Design and Implementation of Vision and Strategy System for Humanoid Robot Soccer Competition. Master Thesis, Department of Electrical Engineering (2009)

    Google Scholar 

  7. Lee, J.-S., Jeong, Y.-H.: CCD Camera Calibrations and Projection Error Analysis. In: Proceedings of the 4th Korea-Russia International Symposium on Science and Technology, KORUS, vol. 2, pp. 50–55 (2000)

    Google Scholar 

  8. Ernst, S., Stiller, C., Goldbeck, J., Roessig, C.: Camera Calibration for Lane And Obstacle Detection. In: Proceedings of IEEE/IEEJ/JSAI International Conference on Intelligent Transportation Systems, pp. 356–361 (1999)

    Google Scholar 

  9. Yong-Sheng, C., Shen-Wen, S., Yi-Ping, H., Chiou-Shann, F.: Camera Calibration with A Motorized Zoom Lens. In: Proceedings of 15th International Conference on Pattern Recognition, vol. 4, pp. 495–498 (2000)

    Google Scholar 

  10. Daniel: Camera calibration tools, http://ubimon.doc.ic.ac.uk/dvs/m581.html/

  11. Zhang, Z.: A Flexible New Technique for Camera Calibration. IEEE Transactions on Pattern Analysis and Machine Intelligence 22, 1330–1334 (2000)

    Article  Google Scholar 

  12. Röfer, T., Laue, T., Thomas, D.: Particle-Filter-Based Self-Localization Using Landmarks and Directed Lines. In: Bredenfeld, A., Jacoff, A., Noda, I., Takahashi, Y. (eds.) RoboCup 2005. LNCS (LNAI), vol. 4020, pp. 608–615. Springer, Heidelberg (2006)

    Chapter  Google Scholar 

  13. Lenser, S., Veloso, M.: Sensor Resetting Localization for Poorly Modelled Mobile Robots. In: Proceedings of the IEEE International Conference on Robotics and Automation, ICRA 2000, pp. 1225–1232 (2000)

    Google Scholar 

  14. Harmati, I., Skrzypczyk, K.: Robot Team Coordination for Target Tracking Using Fuzzy Logic Controller in Game Theoretic Framework. Robotics and Autonomous Systems 57, 75–86 (2009)

    Article  Google Scholar 

  15. Ueda, R., Fukase, T., Kobayashi, Y., Arai, T., Yuasa, H., Ota, J.: Uniform Monte Carlo Localization - Fast and Robust Self-Localization Method for Mobile Robots. In: Proceedings of the IEEE International Conference on Robotics and Automation, ICRA 2002, pp. 1353–1358 (2002)

    Google Scholar 

  16. Buschka, P., Saffiotti, A., Wasik, Z.: Fuzzy Landmark-Based Localization for A Legged Robot. In: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), vol. 2, pp. 1205–1210 (2000)

    Google Scholar 

  17. Herrero-Perez, D., Martinez-Barbera, H.: Fast and Robust Recognition of Field Line Intersections. In: IEEE 3rd Latin American Proceedings of Robotics Symposium, LARS 2006, pp. 115–119 (2006)

    Google Scholar 

  18. Dellaert, F., Fox, D., Burgard, W., Thrun, S.: Monte Carlo Localization for Mobile Robots. In: Proceedings of IEEE International Conference on Robotics and Automation, vol. 2, pp. 1322–1328 (1999)

    Google Scholar 

  19. Doucet, A., De Freitas, N., Gordon, N.: Sequential Monte Carlo Methods in Practice. Springer (2001)

    Google Scholar 

  20. Grisetti, G., Stachniss, C., Burgard, W.: Improved Techniques for Grid Mapping with Rao-Blackwellized Particle Filters. IEEE Transactions on Robotics 23, 34–46 (2007)

    Article  Google Scholar 

  21. RoboCup, http://www.robocup.org/

  22. FIRA, http://www.fira.net/

  23. Li, T.-H.S., Su, Y.-T., Lai, S.-W., Hu, J.-J.: Walking Motion Generation, Synthesis, and Control for Biped Robot by using PGRL, LPI and Fuzzy Logic. IEEE Trans. on System, Men, and Cybernetics, Part B 41, 736–748 (2011)

    Article  Google Scholar 

  24. Su, Y.-T., Chong, K.-Y., Li, T.-H.S.: Design and Implementation Fuzzy Policy Gradient Gait Learning Method for Walking Pattern Generation of Humanoid Robots. International Journal of Fuzzy Systems 13, 369–382 (2011)

    Google Scholar 

  25. Li, T.-H.S., Su, Y.-T., Liu, S.-H., Hu, J.-J., Chen, C.-C.: Dynamic Balance Control for Biped Robot Walking Using Sensor Fusion, Kalman Filter, and Fuzzy Logic. IEEE Transactions on Industrial Electronics 59, 4394–4408 (2012)

    Article  Google Scholar 

  26. Röfer, T., Laue, T., Thomas, D.: Particle-Filter-Based Self-localization Using Landmarks and Directed Lines. In: Bredenfeld, A., Jacoff, A., Noda, I., Takahashi, Y. (eds.) RoboCup 2005. LNCS (LNAI), vol. 4020, pp. 608–615. Springer, Heidelberg (2006)

    Chapter  Google Scholar 

  27. Harmati, I., Skrzypczyk, K.: Robot Team Coordination for Target Tracking Using Fuzzy Logic Controller in Game Theoretic Framework. Robotics and Autonomous Systems 57, 75–86 (2009)

    Article  Google Scholar 

  28. Doucet, A., De Freitas, N., Gordon, N.: Sequential Monte Carlo Methods in Practice. Springer (2001)

    Google Scholar 

  29. Grisetti, G., Stachniss, C., Burgard, W.: Improved Techniques for Grid Mapping with Rao-Blackwellized Particle Filters. IEEE Transactions on Robotics 23, 34–46 (2007)

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. aiRobots Laboratory, Department of Electrical Engineering, National Cheng Kung University, Tainan City, Taiwan, R.O.C.

    Ping-Huan Kuo, Ya-Fang Ho, Chih-Chieh Sun & Tzuu-Hseng S. Li

Authors
  1. Ping-Huan Kuo
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Ya-Fang Ho
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Chih-Chieh Sun
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Tzuu-Hseng S. Li
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Ping-Huan Kuo .

Editor information

Editors and Affiliations

  1. Div. Electrical Engineering, Korea Advanced Institute of Science & Technology (KAIST), Daejeon, Korea, Republic of (South Korea)

    Jong-Hwan Kim

  2. College of Mechanical and Electrical Engineering, Beijing University of Chemical Technology, Beijing, China

    Weimin Yang

  3. School of Information and Communication Technology, Griffith University, Gold Coast, Australia

    Jun Jo

  4. Center for Intelligent Technologies, Technical University of Kosice, Kosice, Slovakia

    Peter Sincak

  5. Civil and Environmental Engg., KAIST, Daejeon, Korea, Republic of (South Korea)

    Hyun Myung

Rights and permissions

Reprints and permissions

Copyright information

© 2015 Springer International Publishing Switzerland

About this paper

Cite this paper

Kuo, PH., Ho, YF., Sun, CC., Li, TH.S. (2015). Obstacle Avoidance and Dribbling Strategy for Humanoid Soccer Robots. In: Kim, JH., Yang, W., Jo, J., Sincak, P., Myung, H. (eds) Robot Intelligence Technology and Applications 3. Advances in Intelligent Systems and Computing, vol 345. Springer, Cham. https://doi.org/10.1007/978-3-319-16841-8_25

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-16841-8_25

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-16840-1

  • Online ISBN: 978-3-319-16841-8

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation