ICRS Eurobot Team 2013/Control & Estimation

Responsibilites of the C&E group

We will be developing algorithms to control the robots' movements and actuators, navigation algorithms, and localisation estimation algorithms.

Estimation

We are using a Kalman filter. If you want to get an idea of what it does, have a look at:

• Kalman filter on wikipedia, [1]
• A simple implementation

You can also have a look at this code snippet from last year to get an idea of what we have going on in code. It might look a bit advanced at first sight, but with a proper explanation of what is going on, its not so bad.

Control

We will mostly be using simple PID Loops