The Real-Time and Embedded Soccer Robot Control System

Li, Ce; Watanabe, Takahiro; Wu, Zhenyu; Li, Hang; Huangfu, Yijie

doi:10.5772/7352

Cited by 4 publications

(2 citation statements)

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“…ETS plays a vital role in successfully accomplishing the desired tasks by the robot. According to Figure 2, the SSL-Vision camera captures global images of the environment by 60 fps (Li et al, 2010). The computer vision system processes these images to identify and locate the robot and neighboring obstacles.…”

Section: Elements Of the Kidvo Approachmentioning

confidence: 99%

KidVO: a kinodynamically consistent algorithm for online motion planning in dynamic environments

Mahmoodi

Alipour

Mohammadi

2016

Industrial Robot: An International Journal

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Purpose – The purpose of this paper is to propose an efficient method, called kinodynamic velocity obstacle (KidVO), for motion planning of omnimobile robots considering kinematic and dynamic constraints (KDCs). Design/methodology/approach – The suggested method improves generalized velocity obstacle (GVO) approach by a systematic selection of proper time horizon. Selection procedure of the time horizon is based on kinematical and dynamical restrictions of the robot. Toward this aim, an omnimobile robot with a general geometry is taken into account, and the admissible velocity and acceleration cones reflecting KDCs are derived, respectively. To prove the advantages of the suggested planning method, its performance is compared with GVOs, the so-called Hamilton-Jacobi-Bellman equation and the rapidly exploring random tree. Findings – The obtained results of the presented scenarios which contain both computer and real-world experiments for complicated crowded environments indicate the merits of the suggested methodology in terms of its near-optimal behavior, successful obstacle avoidance both in static and dynamic environments and reaching to the goal pose. Originality/value – This paper proposes a novel method for online motion planning of omnimobile robots in dynamic environments while considering the real capabilities of the robot.

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Section: Elements Of the Kidvo Approachmentioning

confidence: 99%

KidVO: a kinodynamically consistent algorithm for online motion planning in dynamic environments

Mahmoodi

Alipour

Mohammadi

2016

Industrial Robot: An International Journal

View full text Add to dashboard Cite

show abstract

“…However, during the modeling process, the researchers made some "ideal conditions" assumptions and ignored a variety of coupling factors [8][9]10], resulting in large errors in the established mechanical models and control strategies, making it difficult to popularize and apply. At the same time, since the contact between the shell of the spherical robot and the ground is approximately a point contact, the "stability" and "controllability" of the robot during the movement process have become restrictive factors that restrict the promotion of spherical robot products [11] [12]. The dynamic performance of spherical robots is also a key factor affecting the "stability" and "controllability" of spherical robots, and it is also a hot issue in the field of spherical robot research [13][14]15].…”

Section: Introductionmentioning

confidence: 99%