Calibration and visual feedback control for mobile robots

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Supervisor:
Dr. Harmati István
Department of Control Engineering and Information Technology

Robot soccer is a game played by two teams on a rectangular field. The course of the game is very similar to human soccer: the difference is that in case of robot soccer, the members of the teams are mobile robots controlled by an unsupervised, autonomous system.

There are numerous problems to solve when constructing such a control system. The position and speed of the robots and the ball has to be determined by an observer system, and based on this, the movement of the robots has to be planned by a strategic control system. A transmitter system is also necessary, which transfers the plan of the control system to the mobile robots. Lastly, all these systems have to be properly connected to each other.

The aim of my thesis is to solve position and orientation control of the robots used by the Robot Soccer Project of BME Department of Control Engineering and Information Technology, as well as to extend the image processing module of the project to be able to determine the position of the ball.

In the first part of my thesis, I implement the off-line and on-line calibration of the robots and demonstrate the position and orientation control. I also examine the possibility of implementing the control algorithm on the microcontrollers of the robots, turning the computer into a transmitter between the image processing module and the robots. After that, I extend the image processing module to be able to determine the position of the ball. Lastly, I define an interface between the updated module and the robot soccer framework.

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