RACBOT-RT: ROBUST DIGITAL CONTROL FOR DIFFERENTIAL SOCCER-PLAYER ROBOTS

João Monteiro, Rui Rocha

2008

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.

References

  1. T. Larsen, M. B. (2000). Location estimation for an autonomously guided vehicle using an augmented kalman filter to autocalibrate the odometry. Technical University of Denmark.
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Paper Citation


in Harvard Style

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


in Bibtex Style

@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},
}


in EndNote Style

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