DocumentCode
2034744
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
fYear
2009
fDate
23-24 May 2009
Firstpage
1
Lastpage
4
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/IWISA.2009.5072755
Filename
5072755
Link To Document