Thesis (MScEng)--Stellenbosch University, 2013. / ENGLISH ABSTRACT: This thesis describes the development of a distributed control system for SSL
soccer robots. The project continues on work done to develop a robotics research
platform at Stellenbosch University. The wireless communication system
is implemented using Player middleware. This enables high level programming
of the robot drivers and communication clients, resulting in an easily
modifiable system. The system is developed to be used as either a centralised
or decentralised control system. The software of the robot’s motor controller
unit is updated to ensure optimal movement. Slippage of the robot’s wheels
restricts the robot’s movement capabilities. Trajectory tracking software is developed
to ensure that the robot follows the desired trajectory while operating
within its physical limits.
The distributed control architecture reduces the robots dependency on the
wireless network and the off-field computer. The robots are given some autonomy
by integrating the navigation and control on the robot self. Kalman filters
are designed to estimate the robots translational and rotational velocities. The
Kalman filters fuse vision data from an overhead vision system with inertial
measurements of an on-board IMU. This ensures reliable and accurate position,
orientation and velocity information on the robot. Test results show an
improvement in the controller performance as a result of the proposed system. / AFRIKAANSE OPSOMMING: Hierdie tesis beskryf die ontwikkeling van ’n verspreidebeheerstelsel vir SSL
sokker robotte. Die projek gaan voort op vorige werk wat gedoen is om ’n
robotika navorsingsplatform aan die Universiteit van Stellenbosch te ontwikkel.
Die kommunikasiestelsel is geïmplementeer met behulp van Player middelware.
Dit stel die robotbeheerders en kommunikasiekliënte in staat om in hoë vlak
tale geprogrameer te word. Dit lei tot ’n maklik veranderbare stelsel. Die
stelsel is so ontwikkel dat dit gebruik kan word as óf ’n gesentraliseerde of verspreidebeheerstelsel.
Die sagteware van die motorbeheer eenheid is opgedateer
om optimale robot beweging te verseker. As die robot se wiele gly beperk dit
die robot se bewegingsvermoëns. Trajekvolgings sagteware is ontwikkel om
te verseker dat die robot die gewenste pad volg, terwyl dit binne sy fisiese
operasionele grense bly.
Die verspreibeheerargitektuur verminder die robot se afhanklikheid op die
kommunikasienetwerk en die sentrale rekenaar. Die robot is ’n mate van outonomie
gegee deur die integrasie van die navigasie en beheer op die robot self te
doen. Kalman filters is ontwerp om die robot se translasie en rotasie snelhede
te beraam. Die Kalman filters kombineer visuele data van ’n oorhoofse visiestelsel
met inertia metings van ’n IMU op die robot. Dit verseker betroubare
en akkurate posisie, oriëntasie en snelheids inligting. Toetsresultate toon ’n
verbetering in die beheervermoë as ’n gevolg van die voorgestelde stelsel.
| Identifer | oai:union.ndltd.org:netd.ac.za/oai:union.ndltd.org:sun/oai:scholar.sun.ac.za:10019.1/80221 |
| Date | 03 1900 |
| Creators | Holtzhausen, David Schalk |
| Contributors | Schreve, K., Blanckenberg, M. M., Stellenbosch University. Faculty of Engineering. Dept. of Mechanical and Mechatronic Engineering. |
| Publisher | Stellenbosch : Stellenbosch University |
| Source Sets | South African National ETD Portal |
| Language | en_ZA |
| Detected Language | Unknown |
| Type | Thesis |
| Format | xvii, 108 p. : ill. |
| Rights | Stellenbosch University |
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