On robot soccer game, the localization of robot is basic and important issue. The accurate and reliable location information will increase shooting success rate and even can add different tactics on the game. According new rule released in 2015, the goal color changes from yellow to white. It very easily confuse with white board background. Using vision to aim the goal become difficult. The problem, robot can’t recognize the opponent or our goal is still there. In this thesis, we try to use acoustic way to do the localization. By exchanging sound signals between each other to get location information can help vision system to aim the white goal and recognize the enemy goal.
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