H∞ filtering for a mobile robot tracking a free rolling ball

Abstract

This paper focuses on the problem of tracking and predicting the location and velocity of a rolling ball in the RoboCup environment, when the ball is pushed consecutively by a middle-size omnidirectional robot to follow a given path around obstacles. A robust algorithm based on the H∞ filter is presented to accurately estimate the ball's real-time location and velocity. The performance of this tracking strategy was also evaluated by real-world experiments and comparisons with the Kalman filter. © Springer-Verlag Berlin Heidelberg 2007.