RACbot-RT: Robust Digital Control for Differential Soccer-Player Robots

João Monteiro, Rui Rocha

In Proc. of 5th Int. Conf. on Informatics in Control, Automation and Robotics (ICINCO’08), Funchal, Portugal, 11-15 May 2008. DOI: 10.5220/0001505902250228

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.

Index Terms — Digital control, mobile robots, non-holonomic, Lyapunov stability convergence, robot soccer.

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BibTeX

@INPROCEEDINGS(Monteiro_and_Rocha_08b,

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

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

BOOKTITLE = "Proc. of 5$^{th}$ Int. Conf. on Informatics in Control, Automation and Robotics (ICINCO’08)",

ADDRESS = "Funchal, Portugal",

YEAR = "2008",

MONTH = "May"

)

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Last update: 02/04/2008