Please use this identifier to cite or link to this item: https://hdl.handle.net/10216/67284
Author(s): António Paulo Moreira
Susana Gaio
Paulo Costa
Paulo Marques
Armando Sousa
Pedro Costa
Title: "5dpo Robotic Soccer Team for Year 2004"
Issue Date: 2004
Abstract: The design of a Robotic soccer Team is an evolving process wherethe weaknesses and strengths of previous years drive the new enhancements.Also, the inevitable rule changes take an important role on design. The 5dpoteam kept last year omni-directional robots. The robots have a controlled forceElectromagnetic passing/kicking mechanism. The vision system is Linux basedand uses two Firewire cameras to achieve better resolution and reduce systemlag. This setup eliminates previous issues of control degradations caused bynon-synchronisation of frames and noisy images. Team strategy is based on ahierarchical three level state machine. A dynamics prediction layer, based on aKalman Filter, uses the ball and robots dynamics to predict the state at the timewhen the low level commands are executed thus improving the teamperformance.
Subject: Engenharia electrotécnica, Engenharia electrotécnica, electrónica e informática
Electrical engineering, Electrical engineering, Electronic engineering, Information engineering
Scientific areas: Ciências da engenharia e tecnologias::Engenharia electrotécnica, electrónica e informática
Engineering and technology::Electrical engineering, Electronic engineering, Information engineering
URI: https://repositorio-aberto.up.pt/handle/10216/67284
Source: RoboCup2004
Document Type: Artigo em Livro de Atas de Conferência Internacional
Rights: openAccess
License: https://creativecommons.org/licenses/by-nc/4.0/
Appears in Collections:FEUP - Artigo em Livro de Atas de Conferência Internacional
FLUP - Artigo em Livro de Atas de Conferência Internacional

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