Omnidirectional robot modeling and simulation

• Type: Article in International Conference Proceedings Book
• Date: 2020

Authors

Sandro Augusto Magalhães (Author) FEUP; António Paulo Moreira (Author) FEUP; Paulo Gomes da Costa (Author) FEUP

Conference proceedings International

Title: 2020 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2020, Ponta Delgada, Portugal, April 15-17, 2020

Pages: 251-256

2020 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2020

15 April 2020 through 16 April 2020

Indexing

ISI Web of Knowledge - 1 Citation

Scopus - 2 Citations

Other information

Authenticus ID: P-00S-3ZS

DOI: 10.1109/icarsc49921.2020.9096069

Abstract (EN): A robots simulation system is a basis need for any robotics application. With it, developers teams of robots can test their algorithms and make initial calibrations without risk of damage to the real robots, assuring safety. However, build these simulation environments is usually a time-consuming work, and when considering robot fleets, the simulation reveals to be computing expensive. With it, developers building teams of robots can test their algorithms and make initial calibrations without risk of damage to the real robots, assuring safety. An omnidirectional robot from the 5DPO robotics soccer team served to test this approach. The modeling issue was divided into two steps: modeling the motor's non-linear features and modeling the general behavior of the robot. A proper fitting of the robot was reached, considering the velocity robot's response.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6