Self-localization based on white line information for Soccer Robot

Self-localization is the basis of autonomous ability for mobile robotic navigation, motion planning. In order to meet the requirement of real-time performance of the game, an improved radial scan method to extract white lines of space is proposed in this paper, then use the information of white line to achieve self-localization for Soccer Robot, and the results of experiments show that the new method reduces not only the noise interference but also the amount of calculation, which could considerably enhance the real-time performance and accuracy of the system of Soccer Robot for MSRL. © 2012 Springer-Verlag Berlin Heidelberg.