IEEE VSSS Dynamic Model Identification Using Standard Maneuvers

• Daniele de Souza Sales Ribeiro CEFET-MG
• Mariana de Moura Cunha Coelho CEFET-MG
• Elianfrancis Silveira de Souza CEFET-MG
• Mariane Sabino Santiago CEFET-MG
• Accacio Ferreira dos Santos Neto CEFET-MG

Resumo

Identifying dynamic models of mobile robots, par-ticularly in the IEEE Very Small Size Soccer (VSSS) category, poses significant challenges due to the nonlinear nature and parametric complexity of their dynamics. This work proposes an approach to identify the dynamic model of a VSSS robot based on standard operational maneuvers, employing the interior-point method for parameter estimation. For validation purposes, five models were developed based on different scenarios constructed from these maneuvers. The results demonstrate that the proposed methodology is capable of producing models that satisfactorily represent the robot's dynamic behavior. In particular, models based on forward and coupled movements exhibited superior performance and more consistent generalization capability, pro-viding a solid foundation for future advances in control strategies and autonomy of mobile robotic systems.

Palavras-chave: Solid modeling, Parameter estimation, Conferences, Solids, System identification, Complexity theory, Mobile robots, Standards, Sports, System Identification, Mobile Robot, IEEE-VSSS Category