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A practical approach to control and self-localization of Persia omni directional mobile robot

机译:波斯全向移动机器人控制与自定位的实用方法

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Omni directional mobile robots have been popularly employed in several applications especially in soccer player robots in Robocup competitions. However, control and self-localization of omni directional mobile robots are important issues and different teams in the Robocup competitions have used different techniques to tackle it. Since it is very complicated to calculate the omni directional system transfer function as in classic control, a simplified model of the system would be helpful for estimating the PID coefficients of the robots' position and orientation control. The vision-based self-localization combined with the odometry system enables us to have a robust self-localization method. The findings have been tested in the Robocup competition field using three Persia middle size omni directional robots.
机译:全向移动机器人已广泛应用于多种应用中,尤其是在Robocup比赛中的足球运动员机器人中。但是,全向移动机器人的控制和自定位是重要的问题,Robocup比赛中的不同团队使用了不同的技术来解决它。由于像经典控制中那样计算全向系统传递函数非常复杂,因此系统的简化模型将有助于估计机器人位置和方向控制的PID系数。基于视觉的自定位与里程计系统的结合使我们能够拥有强大的自定位方法。研究结果已经在Robocup竞赛领域中使用三台波斯中型全向机器人进行了测试。

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