Positioning and Maneuver of an Omnidirectional Robot Soccer

Utama, Khasia Vidra; Fatekha, Rifqi Amalya; Prayoga, Senanjung; Pamungkas, Daniel Sutopo; Hudhajanto, Rizky Pratama

doi:10.1109/incae.2018.8579148

Cited by 5 publications

(3 citation statements)

References 3 publications

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“…The definition of path planning indicates to the procedure of discovering a trajectory within the configuration space that links the initial and desired locations of the robot, as described by Utama et al, [17]. The path generated should adhere to the forward and inverse kinematic restrictions of the 4OWMR.…”

Section: Path Planning Techniquesmentioning

confidence: 99%

Selecting Dynamic Path Planning Algorithm Based-Upon Ranking Approach for Omni-Wheeled Mobile Robot

Mostafa Mohammed Massoud Hamd,

Ahmed Abdellatif Hamed Ibrahim,

Mostafa Rostom Ahmed Atia

2024

ARASET

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Four Omni Wheels Mobile Robot (4OWMR) are widely utilized for indoor navigation applications such as autonomous transportation, surveillance, rescue, and search. This paper proposes a ranking approach to select the dynamic path planning algorithm. The selection process involves implementing the four path planning techniques (PRM, RRT, RRT*, Hybrid A*) on three different maps. The Weighted Sum Model (WSM) is then applied to each map to rank these algorithms based on several factors. Finally, the points of each algorithm in the three maps are added up, and the algorithm with the highest score is selected as the dynamic path planning algorithm. The results indicate that the Hybrid A* algorithm surpasses the others, scoring 46 points, which represents a 21.7% increase compared to PRM and RRT, and a 30.4% increase compared to RRT* when using the weighted sum ranking technique. Therefore, it can be selected as the dynamic path planning algorithm.

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Section: Path Planning Techniquesmentioning

confidence: 99%

Selecting Dynamic Path Planning Algorithm Based-Upon Ranking Approach for Omni-Wheeled Mobile Robot

Mostafa Mohammed Massoud Hamd,

Ahmed Abdellatif Hamed Ibrahim,

Mostafa Rostom Ahmed Atia

2024

ARASET

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“…Robots are usually autonomous, meaning they can make their own decisions and execute their own actions without human intervention and have a vision that is 2050 against humans [2]. Most MSL teams adopt omniwheels-based drive configurations for the sake of agility [3][4][5][6]. One of the key challenges in robot soccer is motion planning, which refers to the process of determining the optimal path or trajectory that a robot should follow to achieve a specific goal as well as path tracking to control the movement of the robot along the predetermined path [7].…”

Section: Introductionmentioning

confidence: 99%

Implementation of Rapidly-Exploring Random Tree (RRT) for Path Planning and Stanley Control Method for Path Tracking on Wheeled Soccer Robots

Soebhakti,

Budiana,

Rahmat

et al. 2024

Proceedings of the 6th International Conference on Applied Engineering, ICAE 2023, 7 November 2023, Batam, Riau Islands, Indone

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A wheeled soccer robot, designed for autonomous play, faces challenges in motion planning due to dynamic player interactions. This involves generating optimal paths for goal-oriented movements, utilizing techniques like Rapidly-exploring Random Trees (RRTs) for path planning and Stanley control for path tracking. Results at 80 cm/s show a Root Mean Square Error (RMSE) of 14.02 cm (x-axis) and 12.9 cm (y-axis). In the third test, RMSE is 6.04 cm (x-axis) and 14.16 cm (y-axis), with a 7.12-second travel time. The motion planning system, employing RRTs and Stanley Control, produces collisionfree trajectories, tracked effectively in real-time. Obstacle positioning impacts travel time but doesn't impede trajectory selection. The system adeptly generates and tracks optimal paths for wheeled soccer robots.

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“…A mobile robot may choose its own path for mobility and is designed for movement around an environment [1][2][3]. According to their mode of movement, mobile robots can be classified into two categories: wheeled robots and legged robots [4].…”

Section: Introductionmentioning

confidence: 99%

Kinematic and optimal design of a three-wheeled holonomic omnidirectional robot platform for mobile manipulation tasks

Rutvik Mehenge,

Niket Satoskar,

Anukool Shidhore

et al. 2023

Global J. Eng. Technol. Adv.

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Mobile manipulator robots are increasingly vital in industrial and service sectors, serving roles in assembly, inspection, and hazardous environments. The integration of a manipulator with a mobile robot base imposes unique demands on the vehicle's drive system. This paper introduces a three-wheel holonomic omnidirectional robot designed for mobile applications. It explores kinematic equations, electronic integration, and mechanical design for holonomic motion. This platform excels in mobility, capable of simultaneous translation and rotation, facilitating precise multidirectional motion. Its equilateral truncated triangular structure ensures stability, supporting up to 4 kg. With three omnidirectional wheels and DC motors, controlled by EMS 30A H-Bridge and Arduino Mega 2560, it offers an open platform for research and development. This robust platform aligns kinematic calculations with mathematical models, promising efficiency for diverse mobile manipulation robot applications.

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Positioning and Maneuver of an Omnidirectional Robot Soccer

Cited by 5 publications

References 3 publications

Selecting Dynamic Path Planning Algorithm Based-Upon Ranking Approach for Omni-Wheeled Mobile Robot

Selecting Dynamic Path Planning Algorithm Based-Upon Ranking Approach for Omni-Wheeled Mobile Robot

Implementation of Rapidly-Exploring Random Tree (RRT) for Path Planning and Stanley Control Method for Path Tracking on Wheeled Soccer Robots

Kinematic and optimal design of a three-wheeled holonomic omnidirectional robot platform for mobile manipulation tasks

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