Open Science Research Excellence

Omid Sojodishijani

Publications

2

Publications

2
5541
Fuzzy Error Recovery in Feedback Control for Three Wheel Omnidirectional Soccer Robot
Abstract:

This paper is described one of the intelligent control method in Autonomous systems, which is called fuzzy control to correct the three wheel omnidirectional robot movement while it make mistake to catch the target. Fuzzy logic is especially advantageous for problems that can not be easily represented by mathematical modeling because data is either unavailable, incomplete or the process is too complex. Such systems can be easily up grated by adding new rules to improve performance or add new features. In many cases , fuzzy control can be used to improve existing traditional controller systems by adding an extra layer of intelligence to the current control method. The fuzzy controller designed here is more accurate and flexible than the traditional controllers. The project is done at MRL middle size soccer robot team.

Keywords:
Robocup , omnidirectional , fuzzy control, soccer robot , intelligent control.
1
13563
Localization by DKF Multi Sensor Fusion in the Uncertain Environments for Mobile Robot
Abstract:

This paper presents an optimized algorithm for robot localization which increases the correctness and accuracy of the estimating position of mobile robot to more than 150% of the past methods [1] in the uncertain and noisy environment. In this method the odometry and vision sensors are combined by an adapted well-known discrete kalman filter [2]. This technique also decreased the computation process of the algorithm by DKF simple implementation. The experimental trial of the algorithm is performed on the robocup middle size soccer robot; the system can be used in more general environments.

Keywords:
Discrete Kalman filter, odometry sensor,omnidirectional vision sensor, Robot Localization.