Motion control of mobile autonomous robots using non-linear dynamical systems approach
Autor(a) principal: | |
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Data de Publicação: | 2017 |
Outros Autores: | , , , , , |
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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Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
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7160 |
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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 |
_version_ |
1817545146283065344 |