Robust Digital Control for Differential Soccer-Player Robots

João Monteiro, Rui Rocha

In Proc. of 8th Conf. on Autonomous Robot Systems and Competitions, Aveiro, Portugal, Apr. 2, 2008.

Abstract

Robot soccer is a popular challenge due to its game dynamics. In particular, mobile robots must exhibit high responsiveness to motion commands and suitable 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 with high sampling rate. Experimental results validate the quality of the proposed controller.

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BibTeX

@INPROCEEDINGS(Monteiro_and_Rocha_08a,

AUTHOR = "Monteiro, J. and Rocha, R.",

TITLE = "Robust Digital Control for Differential Soccer-Player Robots",

BOOKTITLE = "Proc. of 8$^{th}$ Conf. on Autonomous Robot Systems and Competitions",

ADDRESS = "Aveiro, Portugal",

YEAR = "2008",

MONTH = "Apr.",

PAGES = "45-50"

)

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Last update: 02/04/2008