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Real-Time Online Adaptive Feedforward Velocity Control for Unmanned Ground Vehicles

Ommer, Nicolai and Stumpf, Alexander and Stryk, Oskar von (2017):
Real-Time Online Adaptive Feedforward Velocity Control for Unmanned Ground Vehicles.
In: RoboCup Symposium 2017, [Conference or Workshop Item]

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.

Item Type: Conference or Workshop Item
Erschienen: 2017
Creators: Ommer, Nicolai and Stumpf, Alexander and Stryk, Oskar von
Title: Real-Time Online Adaptive Feedforward Velocity Control for Unmanned Ground Vehicles
Language: English
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.

Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Event Title: RoboCup Symposium 2017
Date Deposited: 19 Nov 2018 11:34
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