Design and Optimisation of a Control System for Omnidirectional Robots

Student: Isaac Linnett

Supervisor: Gordon Wyeth

Category: Engineering Thesis Project - Robotics

The aim of this thesis is to describe the software redesign of the existing control system used on an omnidirectional soccer robot. The robots used in this research are the University of Queensland’s RoboRoos, which compete in the international robot soccer competition, RoboCup. The dynamic nature of this competition dictates that the control system must be reactive, thereby allowing for rapid changes in the motion of the robot.

The updated system is designed around a new optimal desired velocity calculation algorithm and a supporting proportional-integral feedback loop to control the motion of the robot. The new system has increased the robot’s maximum possible acceleration and improved the fluidity and accuracy of their movements. The robot’s new control system also accounts for the dynamic effects of the peripheral devices, such as the kicking and ball control mechanism.

Testing the new and old system shows that the robots are faster, have better control and play the game of soccer at a higher standard. In game conditions the new system is able to score more goals and defend their own goal better than the old system. http://www.itee.uq.edu.au/~dball/roboroos/

Thesis Document (PDF)