Title :
Application Research of an Improved HSIC Controller in Autonomous Soccer Robot Based on Omni-Directional Vision
Author :
Zhai Tian-song ; Guo Xue-jun ; Liu Shu-Jun
Author_Institution :
Dept. of Electron. & Electr. Eng., Nanyang Inst. of Technol., Nanyang
Abstract :
RoboCup middle-size robot must be controlled realtime, accurately and steadily. So an improved HSIC controller was put forward in this paper to do the motion control for the soccer robot. It was solved that the robot can´t veraciously track the trajectory in time in the high-speed competition because of its intrinsic characteristics. Simulation results show that compare with conventional PID, this controller is more efficient and veracious.
Keywords :
mobile robots; motion control; multi-robot systems; robot vision; three-term control; PID; RoboCup middle-size robot; autonomous soccer robot; improved HSIC controller; motion control; omnidirectional vision; Computational modeling; Control systems; Error correction; Intelligent control; Motion control; Open loop systems; Proportional control; Robot control; Robot vision systems; Trajectory;
Conference_Titel :
Intelligent Systems and Applications, 2009. ISA 2009. International Workshop on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-3893-8
Electronic_ISBN :
978-1-4244-3894-5
DOI :
10.1109/IWISA.2009.5072755
