Dynamic control of steerable wheeled mobile platforms applied to an eight-wheeled RoboCup Middle Size League soccer robot

Houtman, Wouter; Martinez, Cesar A. Lopez; Wang, S.; Ketels, A.; Bruyninckx, Herman; Molengraft, M.J.G. van de

doi:10.1016/j.mechatronics.2021.102693

Cited by 8 publications

(9 citation statements)

References 21 publications

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“…Before this competition, many scientific researchers did a lot of pre-competition preparations, such as drafting rules, organizing simulation group competitions, etc., to ensure the success of this competition. Since then, the Robo Cup competition is held around the world every year, and then the exchange meeting on its scientific research progress is held, which provides a good communication platform for scientific researchers and promotes the rapid development of their related scientific and technological fields (Houtman et al, 2021 ).…”

Section: Design Of An Intelligent System For Functional Strength Trai...mentioning

confidence: 99%

Application of Deep Learning Technology in Strength Training of Football Players and Field Line Detection of Football Robots

Zhou

Chen

2022

Front. Neurorobot.

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The purpose of the study is to improve the performance of intelligent football training. Based on deep learning (DL), the training of football players and detection of football robots are analyzed. First, the research status of the training of football players and football robots is introduced, and the basic structure of the neuron model and convolutional neural network (CNN) and the mainstream framework of DL are mainly expounded. Second, combined with the spatial stream network, a CNN-based action recognition system is constructed in the context of artificial intelligence (AI). Finally, by the football robot, a field line detection model based on a fully convolutional network (FCN) is proposed, and the effective applicability of the system is evaluated. The results demonstrate that the recognition effect of the dual-stream network is the best, reaching 92.8%. The recognition rate of the timestream network is lower than that of the dual-stream network, and the maximum recognition rate is 88%. The spatial stream network has the lowest recognition rate of 86.5%. The processing power of the four different algorithms on the dataset is stronger than that of the ordinary video set. The recognition rate of the time-segmented dual-stream fusion network is the highest, which is second only to the designed network. The recognition rate of the basic dual-stream network is 88.6%, and the recognition rate of the 3D CNN is the lowest, which is 86.2%. Under the intelligent training system, the recognition accuracy rates of jumping, kicking, grabbing, and starting actions range to 97.6, 94.5, 92.5, and 89.8% respectively, which are slightly lower than other actions. The recognition accuracy rate of passing action is 91.3%, and the maximum upgrade rate of intelligent training is 25.7%. The pixel accuracy of the improved field line detection of the model and the mean intersection over union (MIoU) are both improved by 5%. Intelligent training systems and the field line detection of football robots are more feasible. The research provides a reference for the development of AI in the field of sports training.

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Section: Design Of An Intelligent System For Functional Strength Trai...mentioning

confidence: 99%

Application of Deep Learning Technology in Strength Training of Football Players and Field Line Detection of Football Robots

Zhou

Chen

2022

Front. Neurorobot.

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“…The existed wide interest to the problems about control of the robotic wheeled platforms are due to the wide range of the operation purposes for these platforms, and it can be illustrated by the follows researches [1][2][3]. Such interest to the control problems is due to the different circumstances [4][5][6].…”

Section: Analysis Of Last Achievements and Publicationsmentioning

confidence: 99%

“…It seems that the problems of the robotic wheeled platforms control are fully researched due to a lot of existed publications [1][2][3], but the most of the existed publications deals with the separate particularities of the general problem about control of the robotic wheeled platforms [4][5][6], so this general problem is actually not fully researched now. Besides, permanent implementing the new kinds of the robotic wheeled platforms requires the developing the relevant control systems [7], so it seems that the problem about control of the robotic wheeled platforms is and will be permanently in current interest too.…”

Section: Highlight Of the Earlier Unresolved Parts Of The General Pro...mentioning

confidence: 99%

Computer Simulations of Controllability Processes for Robotic Wheeled Platforms Taking Into Account Restrictions of Jerk Motions

Alyokhina

Nevliudov

Romashov

2022

ITSSI

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The computer simulations are considered as the required tool to design the suitable autonomous control systems optimal in different senses and especially in providing the restrictions of the jerk motions for the robotic wheeled platforms. The subject matter of this research is the development of the theory and methods for computer simulations of the controllability processes of the robotic wheeled platforms. The goal of this research is to consider the jerks of the wheeled platforms, and the jerks are reduced to the limitation of the acceleration time derivative of the mass center of the wheeled platform, so that this derivative is considered as the quantitative estimation of the jerks. The incorrectness in the Hadamard's sense for direct defining the jerks by differentiations of the phase coordinates in the case of computer simulations using the numerical methods is discussed. Tasks of this research are in developing the generalized approaches for mathematical modelling and computer simulations and in theoretical receiving of the properties inherent for the wheeled platforms and suitable for verification the computer simulations results, as well as in making the calculations to have the quantitative results about the controllability processes for the particular case of the electromechanical four-wheeled platform under the straight motion with the mode of speeding-up from the state of the rest. Methods of this research are based on the Lagrange's equations of second kind, as well as on the electromechanical analogies, and on final representing the mathematical models in the form of the system of the first ordered ordinary differential equations with the initial conditions for further numerical solving. The computer simulations are accomplished by using the Scilab free open source software. Results of this research are in the proposed suitable way for computing the jerks by the phase coordinates without its differentiations allow excluding the incorrectness in the Hadamard's sense, as well as in representing the controllability processes for the electromechanical wheeled platform, including the results for the velocities, the accelerations and the jerks which are necessary to illustrate the controllability processes for the robotic wheeled platforms. By comparison with the theoretically established inherent properties of the wheeled platforms it is shown the correctness of the results of the computer simulations. Conclusions about this research are that the developed approaches for computer simulations of the controllability processes for the robotic wheeled platforms allow considering influence of the control on the different characteristics including the velocity, the acceleration, as well as the jerk motions which are required for designing the controls optimal in different senses.

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“…For mobile robot trajectory tracking is easier to achieve than posture stabilization. This comes from the assumption that the wheel makes perfect contact with the ground, meaning that the robots will have no slipping (Houtman et al, 2021). Trajectory tracking is more natural for mobile robots.…”

Section: Introductionmentioning

confidence: 99%

The Feasibility of Trajectory Controller by SS Equation of an Error Model in WMR

Qev

Meshach

2022

IJEC

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There has been an increasing amount of research on WMRs. The WMRs have lots of advantages: their mechanical system is usually simple; the whole movement mostly contains two dependent motors; and their motions in two-dimensional space are quite adaptable. At the same time, the WMRs have better power efficiency. WMRs have been studied from many points of view, such as modelling control, obstacle avoidance, localization, tip-over stability, and so on. This paper discusses the control algorithm. WMRs have nonholonomic constraints. That is, the mobile robot may not be able to reach a specific position and angle in a specific time; however, the robot can reach the target in a different motion or within a limited time. In this paper, an error model based on the WMR is introduced. The model explains the error between the actual position and the ideal or target position in the continuous motion of WMRs. The error model will be transformed into a state-space equation in order to demonstrate that the algorithm that controls the WMR`s movement is controllable. By splitting the inputs into and , the whole equation is transformed into a zero-input state-space system. Then, the errors can be minimized with the optimization of the feedback. The results show that by optimizing the time-varying feedback matrix, the error is asymptotically stable and close to zero. Therefore, by adding this control law to the controller, an approach to making mobile robots follow the planned trajectory is obtained.

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Dynamic control of steerable wheeled mobile platforms applied to an eight-wheeled RoboCup Middle Size League soccer robot

Cited by 8 publications

References 21 publications

Application of Deep Learning Technology in Strength Training of Football Players and Field Line Detection of Football Robots

Application of Deep Learning Technology in Strength Training of Football Players and Field Line Detection of Football Robots

Computer Simulations of Controllability Processes for Robotic Wheeled Platforms Taking Into Account Restrictions of Jerk Motions

The Feasibility of Trajectory Controller by SS Equation of an Error Model in WMR

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