Two key features of successful multi-robot systems in RoboCup are robustness of a vision system and optimization of feedback control in order to reach the goal point and generate the action under the team strategy. This paper proposes two new methods. One is a fast image processing method, which is coped with the spatial variance of color parameters in the field, to extract the positions of robots and ball in 1/30 sec. The separation problem in the interlaced format image is solved. Another one is a path generation method in which the robot approaches the goal by changing its direction convergently. With these two algorithms, the real time processing system is realized by generating a stable path under a low quality input image. © Springer-Verlag Berlin Heidelberg 2003.
CITATION STYLE
Hibino, S., Kodama, Y., Nagasaka, Y., Takahashi, T., Murakami, K., & Naruse, T. (2003). Fast image processing and flexible path generation system for RoboCup small size league. In Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science) (Vol. 2752, pp. 53–64). Springer Verlag. https://doi.org/10.1007/978-3-540-45135-8_5
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