An Autonomous Omnidirectional Robot
Journal of Robotics
Article ID 857594
Hindawi Publishing Corporation
Place of Publication
RoboCup is an international research and education initiative, which aims to foster artificial intelligence and robotics research by using competitive soccer as a standard problem. This paper presents a detailed engineering design process and the outcome for an omni-directional mobile robot platform for the Robocup Middle Size League competition. A prototype that can move omnidirectionally with kicking capability was designed, built, and tested by a group of senior students. The design included a mechanical base, pneumatic kicking mechanism, a DSP microcontroller-based control system, various sensor interfacing units, and the analysis of omnidirectional motions. The testing results showed that the system was able to move omnidirectionally with a speed of ~2 m/s and able to kick a size 5 FIFA soccer ball for a distance of at least 5 meters.
Yanfei Liu, J. Zhao, Josh Apple, Torrey Frank, Matthew Saylor, and Ted Siegel (2010).
An Autonomous Omnidirectional Robot. Journal of Robotics.Article ID 857594. United States: Hindawi Publishing Corporation.