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CONTROLO 2016 pp 409-421 | Cite as

Motion Control of Mobile Autonomous Robots Using Non-linear Dynamical Systems Approach

  • Fernando Ribeiro
  • Gil Lopes
  • Tiago Maia
  • Hélder Ribeiro
  • Pedro Osório
  • Ricardo Roriz
  • Nuno Ferreira
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 402)

Abstract

This paper presents a solution to the problem of motion control of an autonomous robot, moving in a dynamical and unstable environment. It is based on non-linear dynamical systems, modelling the state variables that define the motion of a robot under an omnidirectional platform, like its direction of navigation and velocity. The approach used, is based on a set of non-linear differential equations that model the evolution of state variables along time, based on the concept of attractors and repellers. In the official RoboCup Middle Size League field, a target is used to attract the robot to a certain position (could be the ball or a desired position to receive the ball), while a repeller could move the robot away from its original path (given by obstacles in the surrounding environment). The research was firstly carried out in a computational simulation environment and later on with robots in a real environment.

Keywords

Dynamical environments Non-linear dynamical systems Middle size league MSL RoboCup Mobile autonomous robots Motion control 

Notes

Acknowledgment

This work was developed at the Automation and Robotics Laboratory by MINHO R&D TEAM, University of Minho, under the supervision of Professor A. Fernando Ribeiro and A. Gil Lopes. The knowledge exchanging between the RoboCup’s MSL teams and community contributed greatly for the development of this work.

This work has been supported by COMPETE: POCI-01-0145-FEDER-007043 and FCT—Fundação para a Ciência e Tecnologia within the Project Scope: UID/CEC/00319/2013.

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Copyright information

© Springer International Publishing Switzerland 2017

Authors and Affiliations

  • Fernando Ribeiro
    • 1
  • Gil Lopes
    • 1
  • Tiago Maia
    • 1
  • Hélder Ribeiro
    • 1
  • Pedro Osório
    • 1
  • Ricardo Roriz
    • 1
  • Nuno Ferreira
    • 1
  1. 1.Laboratório de Automação e RobóticaUniversity of MinhoBragaPortugal

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