Movement modeling of mobile robot in MegaSumo category
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CitationChojnowski, K., Wasilewski, P. ve Grądzki, R. (2018). Movement modeling of mobile robot in MegaSumo category. International Conference of Mathematical Sciences, Maltepe Üniversitesi. s. 1-7.
Movement modeling is difficult in MegaSumo robots due to impacts where accelerations often exceed standard accelerometer range of 32g. Robots move with high velocities in relatively small space. It forces the model to be updated with the highest frequency possible. Path planning in MegaSumo robots allows creating different starting strategies which can increase the odds of winning a match. It is impossible to achieve that using only precoded parameters of the movement due to differences in manufacturing the Dohyo on each competition. Article presents three different approaches to the movement modeling. First is to determine the distance traveled by each wheel. Second modeling uses 1-axis accelerometer and 1-axis gyroscope to determine linear velocity and angular velocity of the robot. The last one is model in 3D space using 3-axis gyroscope and 3-axis accelerometer. Every model has its advantages and disadvantages which will be presented in the article.
SourceInternational Conference of Mathematical Sciences
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