Generation of Adaptive Motion Using Quasi-simultaneous Recognition of Plural Targets

Abstract

The paper describes Quasi-simultaneous recognition of plural targets and motion control of robot based on the recognition. The method searches for targets by model-based matching method using the hybrid GA, and the motion of the robot is generated based on the targets' positions on the image. The method is applied to a soccer robot, and targets are a ball, a goal, and an enemy in the experiment. The Experimental results show robustness and reliability of the proposed method.