Title :
Fault tolerant control on omnidirectional soccer robot with motor failure
Author :
Tang, Aolin ; Cao, Qixin ; Leng, Chuntao
Author_Institution :
Robotic Inst., Shanghai Jiaotong Univ., Shanghai, China
Abstract :
To deal with the sudden motor failure during the match, the method of fault tolerant control on omnidirectional soccer robot will be introduced in this article. First of all, the kinematics model of two-wheeled differential driving robot and omnidirectional robot will be given. Then kinematics model of omnidirectional robot with a motor failure will be introduced, based on which the fault tolerant control algorithm is designed. This algorithm has been realized in the soccer robots and proved to be effective.
Keywords :
fault tolerance; mobile robots; multi-robot systems; robot kinematics; fault tolerant control; kinematics model; motor failure; omnidirectional soccer robot; two wheeled differential driving robot; Algorithm design and analysis; Fault tolerance; Fault tolerant systems; Kinematics; Mobile robots; Robot kinematics; Omnidirectional Soccer Robot; fault tolerant control; motor failure;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2010 8th World Congress on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-6712-9
DOI :
10.1109/WCICA.2010.5554311
