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Authors: João Monteiro and Rui Rocha

Affiliation: ISR – Institute of Systems and Robotics, University of Coimbra, Portugal

ISBN: 978-989-8111-31-9

Keyword(s): Digital control, mobile robots, non-holonomic, Lyapunov stability convergence, robot soccer.

Related Ontology Subjects/Areas/Topics: Autonomous Agents ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robot Design, Development and Control ; Robotics and Automation ; Vehicle Control Applications

Abstract: In the field of robot soccer, mobile robots must exhibit high responsiveness to motion commands and possess precise pose control. This article presents a digital controller for pose stability convergence, developed to small-sized soccer robots. Special emphasis has been put on the design of a generic controller, which is suitable for any mobile robot with differential kinematics. The proposed approach incorporates adaptive control to deal with modeling errors and a Kalman filter which fuses odometry and vision to obtain an accurate pose estimation. Experimental results are shown to validate the quality of the proposed controller.

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Paper citation in several formats:
Monteiro J. and Rocha R. (2008). RACBOT-RT: ROBUST DIGITAL CONTROL FOR DIFFERENTIAL SOCCER-PLAYER ROBOTS.In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-989-8111-31-9, pages 225-228. DOI: 10.5220/0001505902250228

@conference{icinco08,
author={João Monteiro and Rui Rocha},
title={RACBOT-RT: ROBUST DIGITAL CONTROL FOR DIFFERENTIAL SOCCER-PLAYER ROBOTS},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2008},
pages={225-228},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001505902250228},
isbn={978-989-8111-31-9},
}

TY - CONF

JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - RACBOT-RT: ROBUST DIGITAL CONTROL FOR DIFFERENTIAL SOCCER-PLAYER ROBOTS
SN - 978-989-8111-31-9
AU - Monteiro J.
AU - Rocha R.
PY - 2008
SP - 225
EP - 228
DO - 10.5220/0001505902250228

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