Rac Robotic Soccer Small-size Team: Omnidirectional Drive Modelling and Robot Construction
نویسندگان
چکیده
The main goal of the RAC project is to develop a robotic soccer team for the RoboCup small-size league competitions. This paper is focused on two main issues: omnidirectional drive control design and modelling, and robot design and construction. The robot hardware implementation and design options are presented. Based on the robot kinematic model, a motion controller is designed using trajectory control techniques. A simple calibration procedure was devised to deal with construction deviations from the ideal model.
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