SPEED CONTROLLERS APPLICATION IN HOLONOMIC WHEELS, POSITIONING CONTROL AND PROTOCOLS IN A FOOTBALL PLAYER ROBOT COMMUNICATION
DOI:
https://doi.org/10.24054/rcta.v1i39.1368Keywords:
Control, motors, position, communication, robotAbstract
This work presents a digital position control system for a holonomic robot, based on a location system composed of a multi-sensorial fusion between the mobile odometry and an external artificial vision system. The robot has an embedded system that is inside it and the software works based on a real-time operating system (FreeRTOS). The design of a speed control for each engine that controls the wheels is also showed off, as well as, an ad-hoc communication protocol for its communication (backplane).
References
Baede, T. A. (2006). Motion control of an omnidirectional mobile robot.
Cantillo Maldonado, A., Gualdron Guerrero, O., & Ortiz Sandoval, J. (2018). Procesamiento De Señales Emg En Un Sistema Embebido Para El Control Neuronal De Un Brazo Robótico. Revista Colombiana De Tecnologías De Avanzada (RCTA), 2(32). https://doi.org/10.24054/16927257.v32.n32.2018.3037
Gonzalez, E., Rosa, F. de, Miranda, A. S., Rodr’{i}guez, C. F., & Manrique, M. (2011). Bochica 2011 - Team Description Paper. 1–9.
González, R., Rodríguez, F., & Guzmán, J. L. (2015). Robots móviles con orugas. Historia, modelado, localización y control. RIAI - Revista Iberoamericana de Automatica e Informatica Industrial, 12(1), 3–12. https://doi.org/10.1016/j.riai.2014.11.001
Gour, A., Sujith, K. R., Sakthivel, M., Behera, R. P., Jayanthi, T., Madhusoodanan, K., & Murty, S. A. V. S. (2017, February 13). Novel approach of backplane communication for compact & field mountable I&C systems of FBR. 1st IEEE International Conference on Power Electronics, Intelligent Control and Energy Systems, ICPEICES 2016. https://doi.org/10.1109/ICPEICES.2016.7853340
Jain, P. (2014). Odometry and motion planning for omni drive robots. Proceedings of the International Conference on Innovative Applications of Computational Intelligence on Power, Energy and Controls with Their Impact on Humanity, CIPECH 2014, 164–168. https://doi.org/10.1109/CIPECH.2014.7019080
J Astrom, K., & Wittenmark, B. (1997). Computer-control system (3rd ed.). Prentice Hall.
Martin, I., Nieves, G., Jaime, A., Gonzalez, J. L., Diaz, J. A., & Velazco, O. (2016). Estimation Of The Induction Engine Speed Using Neural Networks Estimación De La Velocidad Del Motor De Inducción Utilizando Redes Neuronales. Ta Colombiana De Tecnologías De Avanzada (RCTA).
Ogata, K. (2010). Ingeniería de control moderna (5th ed.). Prentice Hall.
Piedrafita Moreno, R. (2004). Ingeniería de la automatización industrial (2nd ed.). Alfaomega.
Rojas, R., & F, A. G. (2006). Holonomic Control of a robot with an omni- directional drive .
Sanabria Totaitive, C. A., Mauricio Hernández Gómez, O., & Abdel Hay, M. K. (2016). Control Strategy For A Single Phase Inverter Based On Droop Method And Ac Bus Conection. Ta Colombiana De Tecnologías De Avanzada (RCTA).
Salamanca, J. E., Diaz Rodriguez, J. L., & Pardo Garcia, A. (2020). Speed estimation of the three-phase induction motor with Volts/Hertz control using artificial intelligence techniques. Paper presented at the Journal of Physics: Conference Series, , 1704(1) doi:10.1088/1742-6596/1704/1/012017
Santos, R. A., González Potes, A., Villaseñor Gonzalez, L. A., Crespo, A., Sanchez, J., & Gallardo, J. R. (2009). Simulación de Algoritmos para regular el Flujo Vehicular y la Comunicación entre Vehículos Móviles Autónomos utilizando Redes Ad Hoc. http://www.revista-riai.org
Shaw, R. N., Walde, P., Galgotias University, Institute of Electrical and Electronics Engineers, IEEE Industry Applications Society, & International Conference on Computing, P. and C. T. (GUCON) G. U. G. N. U. India. S. 27-28, 2019. (n.d.). Path Planning and Controlling of Omni-Directional Robot Using Cartesian Odometry and PID Algorithm.
Sierra, O. J. S., Garcia, A. P., & Sanchez, E. N. (2016). Intelligent control for the exciter of a synchronous machine with closed loop voltage. Paper presented at the World Automation Congress Proceedings, , 2016-October doi:10.1109/WAC.2016.7582983
The Robocup Federation [Online]. (n.d.). Robocup. Http://Www.Robocup.Org/. http://www.robocup.org/
Valderrama Joaquin Andres, P. A. O. (n.d.). Diseño de Leyes de Control Basadas en la Teoría de la Estabilidad de Atractores, Aplicadas en Robots Agentcoop Jugadores de Fútbol. Universidad Javeriana.
Zhou, H. (2008). DC servo motor PID control in mobile robots with embedded DSP. Proceedings - International Conference on Intelligent Computation Technology and Automation, ICICTA 2008, 1, 332–336. https://doi.org/10.1109/ICICTA.2008.426
Downloads
Published
Versions
How to Cite
Issue
Section
License
Copyright (c) 2022 REVISTA COLOMBIANA DE TECNOLOGIAS DE AVANZADA (RCTA)
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.
Authors publishing in this journal agree to the following conditions:
- Authors retain the moral rights of authorship and grant the journal the right of first publication of the work. This work is licensed under the Creative Commons Attribution-NonCommercial 4.0 International License (CC BY-NC 4.0 DEED), allowing third parties to use the work provided appropriate credit is given to the authors and the first publication in this journal. Commercial use of the work is not permitted, and derivative works cannot be created.
- Authors may enter into separate, additional contractual agreements for the non-exclusive distribution of the journal's published version of the article (for example, including it in an institutional repository or publishing it in a book), provided that the work is clearly indicated as having first been published in this journal.
- Authors are permitted and encouraged to post their work online (e.g., on institutional or personal websites) before and during the review and publication process, as it can lead to productive exchanges and greater and faster dissemination of the published work.
