H ∞Filtering for a Mobile Robot Tracking a Free Rolling Ball

Authors:
Xiang Li;Andreas Zell
Affiliations:
Wilhelm-Schickard-Institute, Department of Computer Architecture, University of Tübingen, Sand 1, 72076 Tübingen, Germany;Wilhelm-Schickard-Institute, Department of Computer Architecture, University of Tübingen, Sand 1, 72076 Tübingen, Germany
Venue:
RoboCup 2006: Robot Soccer World Cup X
Year:
2006

Citing 5
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Abstract

This paper focuses on the problem of tracking and predicting thelocation and velocity of a rolling ball in the RoboCup environment,when the ball is pushed consecutively by a middle-sizeomnidirectional robot to follow a given path around obstacles. Arobust algorithm based on the H∞filteris presented to accurately estimate the ball's real-time locationand velocity. The performance of this tracking strategy was alsoevaluated by real-world experiments and comparisons with the Kalmanfilter.