An autonomous mobile robot is developed and experimentally validated. The robot is designed according to the regulations of the RoboCup Middle Size League 1999. Two basic skills are identified as underdeveloped in the robots participating in the 1999 RoboCup competition: Vision and agility. The goal of this research project is to develop a robot equipped with these two skills. All aspects of the robot being a mechatronic system are covered, including an omnidirectional propulsion system, an omnidirectional vision system, and a simple ball handling mechanism for dribbling a soccer ball. Video cameras are used as sensors, and a video image recognition algorithm is developed that computes both robot and ball position. A robust trajectory planning algorithm based on a global coordinate system is developed. It computes a robot trajectory surrounding a set of control points in given orientations, accounting for the interaction between robot and ball. A controller closes the feedback loop from sensors to actuators keeping the robot on its predetermined course. An experimental validation examines sensor accuracy, performance of actuators and controllers, and the overall skill to dribble a ball along a given trajectory. The vision system computes both robot and ball position 25 times per second. The average error of the robot position is below 10 mm, the average error of the ball position is below 5 percent of the ball's distance from the robot. All driving tests are carried out using a benchmark slalom course. The actuators behave as expected according to their specifications, they allow dynamic driving with longitudinal and lateral accelerations of up to 4 m/s². In that extreme case, the controllers manage the robot to stay on its course with maximum total and lateral deviations below 0.25 m and 0.1 m, respectively. A stable ball dribbling is possible at a maximum velocity and lateral acceleration of 1.5 m/s and 2.5 m/s², respectively.


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    Titel :

    Development and Validation of a Mobile Autonomous Omnidirectional Soccer Robot


    Beteiligte:
    Immel, Rainer (Autor:in)

    Erscheinungsdatum :

    2006-05-11


    Medientyp :

    Hochschulschrift


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    DDC:    629



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