Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.22/3477
Título: Distributed active traction control system applied to the RoboCup middle size league
Autor: Almeida, José
Dias, André
Sequeira, João
Martins, Alfredo
Silva, Eduardo
Palavras-chave: Traction control
Robocup middle size league
Embedded system
Friction force
Slipping observer
Data: 2013
Editora: Intech
Relatório da Série N.º: International Journal of Advanced Robotic Systems; Vol. 10
Resumo: This work addresses the problem of traction control in mobile wheeled robots in the particular case of the RoboCup Middle Size League (MSL). The slip control problem is formulated using simple friction models for ISePorto Team robots with a differential wheel configuration. Traction was also characterized experimentally in the MSL scenario for relevant game events. This work proposes a hierarchical traction control architecture which relies in local slip detection and control at each wheel, with relevant information being relayed to a higher level responsible for global robot motion control. A dedicated one axis control embedded hardware subsystem allowing complex local control, high frequency current sensing and odometric information procession was developed. This local axis control board is integrated in a distributed system using CAN bus communications. The slipping observer was implemented in the axis control hardware nodes integrated in the ISePorto robots and was used to control and detect loss of for traction. %and to detect the ball in the kicking device. An external vision system was used to perform a qualitative analysis of the slip detection and observer performance results are presented.
Peer review: yes
URI: http://hdl.handle.net/10400.22/3477
ISSN: 1729-8806
Versão do Editor: http://www.intechopen.com/books/international_journal_of_advanced_robotic_systems/distributed-active-traction-control-system-applied-to-the-robocup-middle-size-league
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