5 research outputs found
Three omni-directional wheels control on a mobile robot
Traditional two wheels differential drive normally used on mobile robots have manoeuvrability limitations and take time to sort out. Most teams use two driving wheels (with one or two cast wheels), four driving wheels and even three driving wheels. A three wheel drive with omni-directional wheel has been tried with success, and was implemented on fast moving autonomous mobile robots. This paper deals with the mathematical kinematics description of such mobile platform, it describes the advantages and also the type of control used
Controlling omni-directional Wheels of a MSL RoboCup autonomous mobile robot
Autonomous Mobile Locomotion is of extreme importance in RoboCup robots. Even though in 2050 the robotic team will very likely use legs rather than
wheels, at the moment all teams on middle size league use wheels to overcome other problems first. Most teams are using two driving wheels (with one or two cast wheels), four driving wheels and even three driving wheels. The Minho team has been using two driving wheels for the last 5 years (with two caster wheels), but for reaction speed optimization purposes a new approach of three wheels is being developed. This paper deals with the description of such platform, it describes the advantages and also the type of control used
Coordinating distributed autonomous agents with a real-time database: the CAMBADA project
DETIInterest on using mobile autonomous agents has been growing,
recently, due to their capacity to cooperate for diverse purposes, from rescue to
demining and security. However, such cooperation requires the exchange of
state data that is time sensitive and thus, applications should be aware of data
temporal coherency. In this paper we describe the architecture of the agents that
constitute the CAMBADA robotic soccer team developed at the University of
Aveiro, Portugal. This architecture is built around a real-time database that is
partially replicated in all team members and contains both local and remote state
variables. The temporal coherency of the data is enforced by an adequate
management system that refreshes each database item transparently at a rate
specified by the application. The application software accesses the state
variables of all agents with local operations, only, delivering both value and
temporal coherency
Vision, kinematics and game strategy in multi-robot systems like MSL RoboCup
In Multi-Robot systems like the RoboCup football challenge, there are a small
number of key issues which are of extreme relevance for the successfulness of the final
application. In MSL RoboCup these main issues are three: a) The vision system, which has to be as reliable and fast as possible in order to perceive the necessary entities to carry out the game actions; b) Correct kinematics of the robot, that makes the robots move towards the desired goal in the fastest, shortest and optimized away; c) Game strategy, which needs collaboration and communication between all the agents in the field. Other issues are also
important but these three consist of the fundamental ones towards the next step in this challenge which is ball pass between the robots in a controlled way. A team of robots will only be able to pass the ball to another robot only when these three issues are sorted out. This paper describes how these three issues were tackled by the MINHO team and shows their next directions