Larger fields in the Middle-size league as well as the effort to build mixed teams from different universities require a simulation environment which is capable to physically correctly simulate the robots and the environment. A standardized simulation environment has not yet been proposed for this league. In this paper we present our simulation environment, which is based on the Gazebo system. ...

In this paper, modeling and nonlinear controller design for an omni-directional mobile robot are presented. Based on the robot dynamics model, a nonlinear controller is designed using the Trajectory Linearization Control (TLC) method. Some simulation results of the controller are presented.

In this paper, we purpose a new holonomic omni-directional mobile robot that can move on not only flat floors but also uneven environment. A prototype robot can move in omni-direction, run on the uneven floors and slopes, and pass over large steps. The robot has seven universal wheels that have twelve cylindrical free rollers. We adopt a passive suspension system that enable the robot to change...

We consider the problems of kinematic and dynamic constraints, with actuator saturation and wheel slippage avoidance, for motion planning of a holonomic three-wheeled omni-directional robot. That is, the motion planner must not demand more velocity and acceleration at each time instant than the robot can provide. A new coupled non-linear dynamics model is derived. The novel concepts of Velocity...

This paper addresses the problem of global localization (“where am I”?) by a mobile robot using an omni-directional vision sensor. The approach is mainly concerned with the problem of global localization in a topological map (consisting of a set of panoramic views), though it also gives an approximate estimate of the robot pose relative to the best matching view, so it could also be used as the...

This paper describes the approach developed by the CAMBADA robotic soccer team to address physical constraints regarding omni-directional motion control, with special focus on system delay. CAMBADA robots carry inherent delays which associated with discrete time control results in non-instant, non-continuous control degrading the performance over time. Besides a natural maximum velocity, CAMBAD...