Robocup small size league : active ball handling system

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dc.contributor.advisorSchreve, K.en_ZA
dc.contributor.advisorBlanckenberg, M. M.en_ZA
dc.contributor.authorSmit, Daniel Gideon Hugoen_ZA
dc.contributor.otherStellenbosch University. Faculty of Engineering. Dept. of Mechanical and Mechatronic Engineering.en_ZA
dc.date.accessioned2014-04-16T17:31:15Z
dc.date.available2014-04-16T17:31:15Z
dc.date.issued2014-04en_ZA
dc.descriptionThesis (MEng)--Stellenbosch University, 2014.en_ZA
dc.description.abstractENGLISH ABSTRACT: The RoboCup offers a research platform to advance robotics and multi-robot cooperation in dynamic environments. This project builds on work previously done to develop a research platform for multi-robot cooperation at Stellenbosch University. This thesis describes the development of an active ball handling system for a robot in the RoboCup Small Size League (SSL). This was achieved by building on the work done in the previous projects. The hardware for the kicker and dribbler mechanisms on the robot were implemented and tested to characterise their capabilities. The kicker was characterised to control the speed at which a ball is kicked and the dribbler for optimal control over a ball. More accurate movement was required and the Proportional Integral and Derivative (PID) controllers for translational and rotational movement on the robot were improved. The test results show an improvement in straight line trajectory tracking when compared to those of the previous controllers. Dribble control sensors were implemented on the robot for successful dribbling by the robot. This resulted in a significant improvement to the dribbling ability of the robot when these sensors are used. This dribbling ability was compared to the dribbling ability of the robot when no feedback was received from the sensors. Lastly a proposed curved trajectory tracking algorithm was tested by combining translational and rotational movement of the robot. This algorithm showed the capabilities of the robot to follow a curved trajectory with the improved translational and rotational controllers.en_ZA
dc.description.abstractAFRIKAANSE OPSOMMING: Die RoboCup bied ’n navorsingsplatvorm om robotika en multi-robot samewerking in ’n dinamiese omgewing te bevorder. Hierdie projek bou voort op werk wat reeds gedoen is om ’n navorsingsplatvorm vir multi-robot samewerking aan die Universiteit van Stellenbosch te ontwikkel. Hierdie tesis beskryf die ontwikkeling van ’n aktiewe balhanteringsstelsel vir ’n robot in die RoboCup Klein Liga (KL). Dit is bereik deur voort te bou op die werk wat in vorige projekte gedoen is. Die hardeware vir die skopper- en dribbelmeganismes is geïmplementeer en getoets om hulle vermoëns te karakteriseer. Die skopper is gekenmerk deur die spoed waarteen ’n bal geskop word en die dribbler vir optimale beheer oor ’n bal. Meer akkurate beweging was nodig en die PID-beheerders vir translasie- en rotasiebeweging in die robot is verbeter. Die resultate van die toetse toon ’n verbetering in reguitlynbeweging in vergelyking met dié van die vorige beheerders. Dribbelbeheersensors is in die robot geïmplementeer vir suksesvolle dribbelbeweging deur die robot. Gevolglik is daar ’n aansienlike verbetering in die dribbelvermoë van die robot wanneer hierdie sensors gebruik word. Hierdie dribbelvermoë is vergelyk met die dribbelvermoë wanneer die robot geen terugvoer van die sensors ontvang nie. Laastens is ’n voorgestelde algoritme vir die robot om ’n geboë trajek te volg, getoets. Dit is bereik deur die translasie- en die rotasiebeweging van die robot te kombineer. Hierdie algoritme het die vermoë van die robot om ’n geboë baan te laat volg deur gebruik te maak van die verbeterde translasie- en rotasiebeheerders.af_ZA
dc.format.extentxiii, 87 p. : ill.
dc.identifier.urihttp://hdl.handle.net/10019.1/86658
dc.language.isoen_ZAen_ZA
dc.publisherStellenbosch : Stellenbosch Universityen_ZA
dc.rights.holderStellenbosch Universityen_ZA
dc.subjectRobocup Small Size Leagueen_ZA
dc.subjectOmnidirectional roboten_ZA
dc.subjectCurves, Logarithmicen_ZA
dc.subjectDissertations -- Mechanical and mechatronic engineeringen_ZA
dc.subjectDribbling (Soccer)en_ZA
dc.subjectPID controllersen_ZA
dc.subjectRobotics in sportsen_ZA
dc.subjectSoccer -- Kickingen_ZA
dc.subjectSoccer -- Computer simulationen_ZA
dc.subjectUCTD
dc.subject.otherTheses -- Mechanical and mechatronic engineeringen_ZA
dc.titleRobocup small size league : active ball handling systemen_ZA
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