Design and Development of a Comprehensive Omni directional Soccer Player Robot

摘要

Omni directional mobile robots have been popularly employed in several applications especially in soccer player robots considered in Robocup competitions. However, omni directional navigation system, omni-vision system and omni-kick mechanism in such soccer player robots have not ever been combined. This situation brings the idea of a robot with no head direction into existence, i.e. a comprehensive omni directional soccer player robot. Such a robot can respond more quickly and it would be capable for more sophisticated behaviors such as ball passing or goal keeping. This paper has tried to focus on description of areas such as omni directional mechanisms, mechanical structure, control, optimized odometry system, omni-vision sensor for self localization and other subjects related to soccer player robot's software.