Robust Real-Time Digital Control for Differential Mobile Robots

João Monteiro, Rui Rocha

Robótica − Revista Técnico-Científica, ISSN: 0874-9019, Nr. 76, pages 16-21, Out. 2009.

Abstract

This article formulates the robust digital control of a differential mobile robot, including trajectory planning and real-time requirements. Pose stability convergence is used in order to meet high demanding timing restrictions and immediate responsiveness. A special emphasis has been put on the design of a robust controller, which is not only suitable for any robotic platform with differential kinematics but also can accommodate, through adaptive control, uncertainty regarding the platform’s dynamic parameters. The pose estimation in the controller’s feedback is achieved through the sensor fusion between odometry and vision in a high sampling rate Kalman filter. The controller is implemented in a real-time kernel, which allows to respond accurately, with high predictability. Experimental results obtained with small-sized soccer player robots demonstrate this high performance.

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BibTeX

@ARTICLE(Monteiro_Rocha_09a,

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

TITLE = "Robust Real-Time Digital Control for Differential Mobile Robots",

JOURNAL = "Robótica − Revista Técnico-Científica",

YEAR = "2009",

MONTH = "Oct.",

NUMBER = "76",

PAGES = "16-21"

)

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Last update: 05/11/2009