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Advisor(s)
Abstract(s)
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.
Description
Keywords
Traction control Robocup middle size league Embedded system Friction force Slipping observer