Predictive Control for Behavior Generation of Omni-directional Robots

• Type: Article in International Conference Proceedings Book
• Date: 2009

Authors

Cunha, J (Author) Other; lau, n (Author) Other; Rodrigues, J (Author) Other; Cunha, B (Author) Other; Azevedo, JL (Author) Other

Conference proceedings International

Title: Progress in Artificial Intelligence: Proceedings of the 14th Portuguese Conference on Artificial Intelligence, EPIA2009

Pages: 275-286

14th EPIA - Portuguese Conference on Artificial Intelligence - EPIA 2009

Universidade de Aveiro, Portugal, 12 a 15 de Outubro de 2009

Indexing

ISI Web of Knowledge - 2 Citations

Scopus - 2 Citations

Other information

Authenticus ID: P-003-RVR

DOI: 10.1007/978-3-642-04686-5_23

Abstract (EN): This paper describes the approach developed by the CAMBADA robotic soccer team to address physical constraints regarding omni-directional motion control, with special focus on system delay. CAMBADA robots carry inherent delays which associated with discrete time control results in non-instant, non-continuous control degrading the performance over time. Besides a natural maximum velocity, CAMBADA robots have also a maximum acceleration limit implemented at software level to provide motion stability as well as current peaks avoidance oil DC motors. Considering the previous constraints, such as the cycle time and the overall sensor-action delay, compensations can be made to improve the robot control. Since CAMBADA robots are among the slowest robots in the RoboCup Medium Size League, such compensations can help to improve both several behaviours is well as, a better field coverage formation.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 12