Control and self-localization of an omni-directional mobile robot

  • Authors:

  • S. Ziaei-Rad;F. Janabi-Sharifi;M. Daneshpanah;A. Abdollahi;H. Ostadi;H. Samani

  • Affiliations:

  • Mechanical & Electrical Engineering Departments, Isfahan University of Technology, Isfahan, Iran;Mechanical and Industrial Engineering, Ryerson University, Toronto, Canada;Mechanical & Electrical Engineering Departments, Isfahan University of Technology, Isfahan, Iran;Mechanical & Electrical Engineering Departments, Isfahan University of Technology, Isfahan, Iran;Mechanical & Electrical Engineering Departments, Isfahan University of Technology, Isfahan, Iran;Computer Science Department, Oxford University, Oxford, United Kingdom

  • Venue:
  • ACMOS'08 Proceedings of the 10th WSEAS International Conference on Automatic Control, Modelling & Simulation
  • Year:
  • 2008

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Abstract

Omni-directional mobile robots are becoming popular for many applications especially in soccer playing robots. Effective control and self-localization of omni-directional mobile robots constitute important and challenging issues. In this work, a simplified model of the system has been derived for fast tuning of the control system parameters. In particular, strategies for fast tuning of PID/PD coefficients for position and orientation control are devised. A vision-based self-localization and the conventional odometry systems have been fused for robust self-localization. The methods have been tested in the RoboCup competition field using three Persia middle size omni-directional robots.