A practical approach to 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;Department of Electrical and Computer Engineering, National University of Singapore, Singapore
Venue:
WSEAS Transactions on Systems and Control
Year:
2008

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Abstract

Due to their advantages, omni-directional mobile robots have found many applications especially in robotic soccer competitions. Despite recent advances, effective control and self-localization of omni-directional mobile robots remain as important and challenging issues. In this work, a practical approach for control and self-localization of an omni-directional robot is proposed. For this purpose, a simplified model of the system is 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 are fused for robust self-localization. The methods have been tested in the RoboCup competition field using three Persia middle size omni-directional robots. The experimental results are shown to demonstrate the effectiveness of the proposed system and its comparison with a few other compatible approaches.