Real-Time Self-Localization Method for Autonomous Mobile Robot

Abstract

In the field of RoboCup Middle Size League, self-localization is important to estimate own position including goal and robot positions and to decide strategy.Basically, we estimate the self-position with the image information, the environment information and the field information.However, the above method cannot finish processing in real time, so it is difficult to perform the strategic behavior and cooperative operation.In this paper, we construct the self-localization method in real time by applying genetic algorithm.