期刊
出版社
IEEE
DOI: 10.1109/icarsc49921.2020.9096069
关键词
Mobile robotics; Robotics Modeling; Robotics Simulation
资金
- FCT - Fundacao para a Ciencia e a Tecnologia [UIDB/50014/2020, SAICTPAC/0034/2015-POCI-01-0145-FEDER-016418]
- ERDF - European Regional Development Fund through Operational Programme for Competitiveness and Internationalisation - COMPETE 2020 Programme
A robots simulation system is a basis need for any robotics application. With it, developers teams of robots can test their algorithms and make initial calibrations without risk of damage to the real robots, assuring safety. However, build these simulation environments is usually a time-consuming work, and when considering robot fleets, the simulation reveals to be computing expensive. With it, developers building teams of robots can test their algorithms and make initial calibrations without risk of damage to the real robots, assuring safety. An omnidirectional robot from the 5DPO robotics soccer team served to test this approach. The modeling issue was divided into two steps: modeling the motor's non-linear features and modeling the general behavior of the robot. A proper fitting of the robot was reached, considering the velocity robot's response.
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