Development of a Microcontroller Based Central Unit for a RoboCUP SSL Robot

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Kiss Domokos
Department of Automation and Applied Informatics

RoboCup is an international robot football competition, wich has been held every year since 1997. The aim of the competition is to motivate research activities at many research areas. The official goal is that by the middle of the 21st century a team of fully autonomous humanoid robot soccer players shall win a soccer game, complying with the official rules of FIFA, against the winner of the most recent World Cup. The competition has several categories, ranging from the simulation league through different wheeled platforms to real humanoid robots. In this order, the categories cover more and more research areas.

At the Department of Automation and Applied Informatics a robot prototype was formerly developed according to the Small Size League of the competition. In this league there are 6 robots playing per team. There is a central computer that manages the movement of the whole the team, and the task of a team member is to execute the incoming instructions without human interactions.

The goal of this thesis is to redesign the hardware of the available prototype, while taking into consideration its known hardware issues, and adding new functions. Beyond hardware redesign, the aim is to upgrade the firmware by implementing some low level controllers including independent wheel velocity control and coordinated, robot-level velocity control.


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