Modeling moving objects in a dynamically changing robot application

Authors:
Martin Lauer;Sascha Lange;Martin Riedmiller
Affiliations:
Neuroinformatics Group, Institute for Computer Science and Institute for Cognitive Science, University of Osnabrück, Osnabrück, Germany;Neuroinformatics Group, Institute for Computer Science and Institute for Cognitive Science, University of Osnabrück, Osnabrück, Germany;Neuroinformatics Group, Institute for Computer Science and Institute for Cognitive Science, University of Osnabrück, Osnabrück, Germany
Venue:
KI'05 Proceedings of the 28th annual German conference on Advances in Artificial Intelligence
Year:
2005

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Abstract

In this paper we discuss the topic of modeling a moving object in a robot application considering as example the ball movement in a robot soccer environment. The paper focuses on the question of how to estimate the ball velocity reliably even if the ball collides with an obstacle or the observing robot is moving itself. We propose a new estimation algorithm based on a direct estimate using ridge regression and show its performance in reality.