Authors:
João Monteiro
and
Rui Rocha
Affiliation:
ISR – Institute of Systems and Robotics, University of Coimbra, Portugal
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.