Motion control of mobile autonomous robots using non-linear dynamical systems approach

Detalhes bibliográficos
Autor(a) principal: Ribeiro, A. Fernando
Data de Publicação: 2017
Outros Autores: Lopes, Gil, Maia, Tiago, Ribeiro, Hélder, Osório, Pedro, Roriz, Ricardo, Ferreira, Nuno
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/1822/53787
Resumo: This paper presents a solution to the problem of motion control of an autonomous robot, moving in a dynamical and unstable environment. It is based on non-linear dynamical systems, modelling the state variables that define the motion of a robot under an omnidirectional platform, like its direction of navigation and velocity. The approach used, is based on a set of non-linear differential equations that model the evolution of state variables along time, based on the concept of attractors and repellers. In the official RoboCup Middle Size League field, a target is used to attract the robot to a certain position (could be the ball or a desired position to receive the ball), while a repeller could move the robot away from its original path (given by obstacles in the surrounding environment). The research was firstly carried out in a computational simulation environment and later on with robots in a real environment
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spelling Motion control of mobile autonomous robots using non-linear dynamical systems approachDynamical environmentsnon-linear dynamical systemsMiddle Size LeagueMSLmotion controlmobile autonomous robotsRoboCupEngenharia e Tecnologia::Engenharia Eletrotécnica, Eletrónica e InformáticaThis paper presents a solution to the problem of motion control of an autonomous robot, moving in a dynamical and unstable environment. It is based on non-linear dynamical systems, modelling the state variables that define the motion of a robot under an omnidirectional platform, like its direction of navigation and velocity. The approach used, is based on a set of non-linear differential equations that model the evolution of state variables along time, based on the concept of attractors and repellers. In the official RoboCup Middle Size League field, a target is used to attract the robot to a certain position (could be the ball or a desired position to receive the ball), while a repeller could move the robot away from its original path (given by obstacles in the surrounding environment). The research was firstly carried out in a computational simulation environment and later on with robots in a real environmentThis work was developed at the Automation and Robotics Laboratory by MINHO R&D TEAM, University of Minho, under the supervision of Professor A. Fernando Ribeiro and A. Gil Lopes. The knowledge exchanging between the RoboCup’s MSL teams and community contributed greatly for the development of this work. This work has been supported by COMPETE: POCI-01-0145-FEDER-007043 and FCT – Fundação para a Ciência e Tecnologia within the Project Scope: UID/CEC/00319/2013.info:eu-repo/semantics/publishedVersionSpringer VerlagUniversidade do MinhoRibeiro, A. FernandoLopes, GilMaia, TiagoRibeiro, HélderOsório, PedroRoriz, RicardoFerreira, Nuno20172017-01-01T00:00:00Zconference paperinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://hdl.handle.net/1822/53787eng97833194367081876-110010.1007/978-3-319-43671-5_35info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2024-05-11T06:56:45Zoai:repositorium.sdum.uminho.pt:1822/53787Portal AgregadorONGhttps://www.rcaap.pt/oai/openairemluisa.alvim@gmail.comopendoar:71602024-05-11T06:56:45Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Motion control of mobile autonomous robots using non-linear dynamical systems approach
title Motion control of mobile autonomous robots using non-linear dynamical systems approach
spellingShingle Motion control of mobile autonomous robots using non-linear dynamical systems approach
Ribeiro, A. Fernando
Dynamical environments
non-linear dynamical systems
Middle Size League
MSL
motion control
mobile autonomous robots
RoboCup
Engenharia e Tecnologia::Engenharia Eletrotécnica, Eletrónica e Informática
title_short Motion control of mobile autonomous robots using non-linear dynamical systems approach
title_full Motion control of mobile autonomous robots using non-linear dynamical systems approach
title_fullStr Motion control of mobile autonomous robots using non-linear dynamical systems approach
title_full_unstemmed Motion control of mobile autonomous robots using non-linear dynamical systems approach
title_sort Motion control of mobile autonomous robots using non-linear dynamical systems approach
author Ribeiro, A. Fernando
author_facet Ribeiro, A. Fernando
Lopes, Gil
Maia, Tiago
Ribeiro, Hélder
Osório, Pedro
Roriz, Ricardo
Ferreira, Nuno
author_role author
author2 Lopes, Gil
Maia, Tiago
Ribeiro, Hélder
Osório, Pedro
Roriz, Ricardo
Ferreira, Nuno
author2_role author
author
author
author
author
author
dc.contributor.none.fl_str_mv Universidade do Minho
dc.contributor.author.fl_str_mv Ribeiro, A. Fernando
Lopes, Gil
Maia, Tiago
Ribeiro, Hélder
Osório, Pedro
Roriz, Ricardo
Ferreira, Nuno
dc.subject.por.fl_str_mv Dynamical environments
non-linear dynamical systems
Middle Size League
MSL
motion control
mobile autonomous robots
RoboCup
Engenharia e Tecnologia::Engenharia Eletrotécnica, Eletrónica e Informática
topic Dynamical environments
non-linear dynamical systems
Middle Size League
MSL
motion control
mobile autonomous robots
RoboCup
Engenharia e Tecnologia::Engenharia Eletrotécnica, Eletrónica e Informática
description This paper presents a solution to the problem of motion control of an autonomous robot, moving in a dynamical and unstable environment. It is based on non-linear dynamical systems, modelling the state variables that define the motion of a robot under an omnidirectional platform, like its direction of navigation and velocity. The approach used, is based on a set of non-linear differential equations that model the evolution of state variables along time, based on the concept of attractors and repellers. In the official RoboCup Middle Size League field, a target is used to attract the robot to a certain position (could be the ball or a desired position to receive the ball), while a repeller could move the robot away from its original path (given by obstacles in the surrounding environment). The research was firstly carried out in a computational simulation environment and later on with robots in a real environment
publishDate 2017
dc.date.none.fl_str_mv 2017
2017-01-01T00:00:00Z
dc.type.driver.fl_str_mv conference paper
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/1822/53787
url http://hdl.handle.net/1822/53787
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 9783319436708
1876-1100
10.1007/978-3-319-43671-5_35
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Springer Verlag
publisher.none.fl_str_mv Springer Verlag
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
repository.mail.fl_str_mv mluisa.alvim@gmail.com
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