Publication detail

SOCCER ROBOT - MODELING AND CONTROL

HRABEC, J., GAJDUŠEK, M., ŠOLC, F., KOPEČNÝ, L.

Original Title

SOCCER ROBOT - MODELING AND CONTROL

Type

journal article - other

Language

English

Original Abstract

This paper deals with control of differentially driven robot. Kinematic model of this system is presented. Then, three control methods for trajectory tracking are described { heuristic, via local linearization and via dynamic feedback linearization. Trajectory feasibility is discussed. Results of methods are compared in simulations.

Key words in English

Soccer robot, control, linearization, trajectory feasibility

Authors

HRABEC, J., GAJDUŠEK, M., ŠOLC, F., KOPEČNÝ, L.

RIV year

2005

Released

20. 9. 2005

ISBN

1210-2717

Periodical

Inženýrská mechanika - Engineering Mechanics

Year of study

12

Number

A1

State

Czech Republic

Pages from

249

Pages to

255

Pages count

7

BibTex

@article{BUT42789,
  author="Jakub {Hrabec} and Michal {Gajdušek} and František {Šolc} and Lukáš {Kopečný}",
  title="SOCCER ROBOT - MODELING AND CONTROL",
  journal="Inženýrská mechanika - Engineering Mechanics",
  year="2005",
  volume="12",
  number="A1",
  pages="7",
  issn="1210-2717"
}