NDLI: Nonlinear predictive control of an omnidirectional robot dribbling a rolling ball

Content Provider	IEEE Xplore Digital Library
Author	Xiang Li Zell, A.
Copyright Year	2008
Description	Author affiliation: Dept. of Comput. Archit., Univ. of Tubingen, Tubingen (Xiang Li; Zell, A.)
Abstract	This paper focuses on the dribbling control problem of an omnidirectional mobile robot and a rolling ball in the RoboCup middle size domain. Because the ball easily slides away from the robot when the ball moves along a curve, dribbling control is more challenging than the normal mobile robot motion control problem. Based on an introduced reference point with respect to the robot body and a sophisticated planning method of robot pose, the nonlinear predictive control is used to steer the robot to follow the planned poses so as to prevent the ball from leaving the robot. Real-world experiments showed that nonlinear predictive control is capable of solving the pose following problem in a real-time application.
Starting Page	1678
Ending Page	1683
File Size	364570
Page Count	6
File Format	PDF
ISBN	9781424416462
ISSN	10504729
DOI	10.1109/ROBOT.2008.4543442
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-05-19
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Predictive control Mobile robots Wheels Robot sensing systems Motion control Robot control Learning Robotics and automation Size control Intelligent robots
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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