Publications

Publications by CRIIS

2009

A nonlinear mobile robot modeling applied to a model predictive controller

Authors
Conceição, AS; Moreira, AP; Costa, PJ;

Publication
Proceedings of the 2009 ACM Symposium on Applied Computing (SAC), Honolulu, Hawaii, USA, March 9-12, 2009

Abstract

2009

HUMANOID REALISTIC SIMULATOR The Servomotor Joint Modeling

Authors
Lima, JL; Goncalves, JA; Costa, PG; Moreira, AP;

Publication
ICINCO 2009: PROCEEDINGS OF THE 6TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL 2: ROBOTICS AND AUTOMATION

Abstract
This paper presents a humanoid servomotor model that can be used in simulations. Once simulation is a tool that reduces the software production time, it was developed a realistic simulator that own the humanoid features. Based on a real platform, the simulator is validated when compared with the reality.

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2009

Realistic simulation of a Lego Mindstorms NXT based robot

Authors
Goncalves, J; Lima, J; Malheiros, P; Costa, P;

Publication
2009 IEEE CONTROL APPLICATIONS CCA & INTELLIGENT CONTROL (ISIC), VOLS 1-3

Abstract
This paper describes the realistic simulation of a Lego Mindstorms NXT based robot. The presented approach does not replace the training with hardware but is an important complement, since it allows to develop robot software without accessing to the real hardware.

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2009

Design of a Mobile Robot for RoboCup Middle Size League

Authors
Conceicao, AS; Moreira, AP; Costa, PJ;

Publication
2009 6TH LATIN AMERICAN ROBOTICS SYMPOSIUM

Abstract
This article presents a design of a four-wheeled omnidirectional mobile robot for RoboCup Middle Size League. The mobile robot was built for the 5dpo-2000 Robotic Soccer team from the Department of Electrical and Computer Engineering at the University of Porto, Portugal. The robot's architecture and communication structure are presented. A nonlinear modeling and a motion analysis based on the dynamics, kinematics, and DC motors are analyzed. This model could find the nonlinear saturation elements, such as limits of current of the motors, amplitude of the applied voltage in the motors, and frictions related to equation of motion. Simulation results are provided to demonstrate the performance of the proposed project.

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2009

A nonlinear mobile robot modeling applied to a model predictive controller

Authors
Conceicao, AS; Moreira, AP; Costa, P;

Publication
Proceedings of the ACM Symposium on Applied Computing

Abstract
This paper presents a nonlinear modeling approach of an omnidirectional mobile robot to predict the robot behavior in a model-based predictive controller (MPC). Parameters related to dynamic equations of the robot and restriction of the robot's motors are considered in the modeling. Simulation results and real results of navigation are provided to demonstrate the performance of the proposed modeling approach. Copyright 2009 ACM.

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2009

Practical Approach of Modeling and Parameters Estimation for Omnidirectional Mobile Robots

Authors
Conceicao, AS; Moreira, AP; Costa, PJ;

Publication
IEEE-ASME TRANSACTIONS ON MECHATRONICS

Abstract
This paper presents a nonlinear modeling approach for omnidirectional mobile robots. Three experimental methods of estimation of the parameters related to dynamic equations of the robot's model ire developed. The estimation methods are based on least-squares methods to obtain the viscous friction coefficients, the coulomb friction coefficients, and the moment of inertia of the robot. Simulation results and real results of navigation are provided to demonstrate the performance of the proposed modeling approach.

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