Ommer, Nicolai ; Stumpf, Alexander ; Stryk, Oskar von (2017)
Real-Time Online Adaptive Feedforward Velocity Control for Unmanned Ground Vehicles.
RoboCup Symposium 2017.
Konferenzveröffentlichung, Bibliographie
Kurzbeschreibung (Abstract)
Online adaptation of motion models enables autonomous robots to move more accurate in case of unknown disturbances. This paper proposes a new adaptive compensation feedforward controller capable of online learning a compensation motion model without any prior knowledge to counteract non-modeled disturbance such as slippage or hardware malfunctions. The controller is able to prevent motion errors a priori and is well suited for real hardware due to high adaptation rate. It can be used in conjunction with any motion model as only motion errors are compensated. A simple interface enables quick deployment of other robot systems as demonstrated in Small Size and Rescue Robot RoboCup leagues.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2017 |
| Autor(en): | Ommer, Nicolai ; Stumpf, Alexander ; Stryk, Oskar von |
| Art des Eintrags: | Bibliographie |
| Titel: | Real-Time Online Adaptive Feedforward Velocity Control for Unmanned Ground Vehicles |
| Sprache: | Englisch |
| Publikationsjahr: | Juli 2017 |
| Veranstaltungstitel: | RoboCup Symposium 2017 |
| Zugehörige Links: | |
| Kurzbeschreibung (Abstract): | Online adaptation of motion models enables autonomous robots to move more accurate in case of unknown disturbances. This paper proposes a new adaptive compensation feedforward controller capable of online learning a compensation motion model without any prior knowledge to counteract non-modeled disturbance such as slippage or hardware malfunctions. The controller is able to prevent motion errors a priori and is well suited for real hardware due to high adaptation rate. It can be used in conjunction with any motion model as only motion errors are compensated. A simple interface enables quick deployment of other robot systems as demonstrated in Small Size and Rescue Robot RoboCup leagues. |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik |
| Hinterlegungsdatum: | 19 Nov 2018 11:34 |
| Letzte Änderung: | 15 Mär 2019 10:04 |
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