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Development of a robot for RoboCup Small Size League, utilizing a distributed control architecture for a multi-robot system development platform
Thesis (MScEng)--Stellenbosch University, 2011.
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| Format: | Thesis |
| Language: | en_ZA |
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Stellenbosch : Stellenbosch University
2011
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| _version_ | 1867613922964537344 |
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| access_status_str | Open Access |
| author | Smit, Albert |
| author2 | Scheffer, C. |
| author_browse | Scheffer, C. Smit, Albert |
| author_facet | Scheffer, C. Smit, Albert |
| author_sort | Smit, Albert |
| collection | Thesis |
| dc_rights_str_mv | Stellenbosch University |
| description | Thesis (MScEng)--Stellenbosch University, 2011. |
| format | Thesis |
| id | oai:scholar.sun.ac.za:10019.1/17785 |
| institution | Stellenbosch University (South Africa) |
| language | en_ZA |
| last_indexed | 2026-06-10T12:43:50.825Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from SUNScholar — Stellenbosch University Repository |
| publishDate | 2011 |
| publishDateRange | 2011 |
| publishDateSort | 2011 |
| publisher | Stellenbosch : Stellenbosch University |
| publisherStr | Stellenbosch : Stellenbosch University |
| record_format | dspace |
| source_str | SUNScholar — Stellenbosch University Repository |
| spelling | oai:scholar.sun.ac.za:10019.1/17785 Development of a robot for RoboCup Small Size League, utilizing a distributed control architecture for a multi-robot system development platform Smit, Albert Scheffer, C. Kim, Y. Stellenbosch University. Faculty of Engineering. Dept. of Mechanical and Mechatronic Engineering. Robocup Small Size League Distributed control architectures Omni-directional robot Multi-robot development platform Dissertations -- Mechatronic engineering Theses -- Mechatronic engineering Robotics Multi-robot systems Thesis (MScEng)--Stellenbosch University, 2011. ENGLISH ABSTRACT: RoboCup promotes research in robotics and multi-robot systems (MRS). The RoboCup Small Size League (SSL), in particular, offers an entry level opportunity to take part in this field of study. This thesis presents a starting phase for research in robotics and MRS at Stellenbosch University. It includes the full documentation of the mechanical, electronic and software design of an omni-directional soccer robot for RoboCup SSL. The robot is also meant to operate as a hardware and software development platform for research in MRS. The platform was therefore designed with high-level programming language compatibility, a wide range of connectivity, and modularity in mind. The robot uses a single board computer (SBC) running a Linux operating system to accomplish these objectives. Moreover, a driver class library was written in C++ as a software application interface (API) for future development on the robot platform. The robot was also developed with a particular focus on a distributed control architecture. "Player" was implemented as the middleware, which can be used for communication between multiple robots in a distributed environment. Additionally, three tests were performed to demonstrate the functionality of the prototype: a PI speed control test, a direction accuracy test and a static communication test using the middleware. Recommendations for possible future work are also given. AFRIKAANSE OPSOMMING: RoboCup bevorder navorsing in robotika en multi-robot-stelsels (MRS). Die RoboCup Klein Liga (KL) bied in die besonder die geleentheid om op intreevlak navorsing te doen in hierdie veld. Hierdie tesis verteenwoordig die eerste fase van navorsing in robotika en MRS by Stellenbosch Universiteit. Dit sluit die volledige dokumentasie van die meganiese, elektroniese en sagteware-ontwerp van ’n omnidireksionele sokker-robot vir die KL in. Die robot is ook veronderstel om te dien as ’n hardeware- en sagteware-ontwikkelingsplatform vir navorsing in MRS. Die platform is dus ontwerp met ’n verskeidenheid van uitbreingsmoontlikhede en modulariteit in gedagte asook die moontlikheid om gebruik te maak van ’n hoë-vlak programmeertaal. Om hierdie doelwitte te bereik, maak die robot gebruik van ’n enkel-bord-rekenaar met ’n Linux bedryfstelsel. Verder was ’n sagteware drywer in C++ geskryf om te dien as ’n sagteware-koppelvlak vir toekomstige ontwikkeling op die robot platform. Die robot is ook ontwikkel met die besondere fokus op ’n gedesentraliseerde beheerstels. Player was geïmplementeer as die middelware, wat gebruik kan word vir kommunikasie tussen verskeie robotte in ’n gedesentralliseerde beheerstelsel. Daar is drie toetse uitgevoer om die funksionaliteit van die prototipe te demonstreer, ’n PI spoed beheer toets, ’n rigting akkuraatheidstoets en ’n statiese kommunikasie toets deur van die middelware gebruik te maak. Aanbevelings vir moontlike toekomstige werk word ook verskaf. 2011-11-21T16:46:08Z 2011-12-05T12:58:36Z 2011-11-21T16:46:08Z 2011-12-05T12:58:36Z 2011-12 Thesis http://hdl.handle.net/10019.1/17785 en_ZA Stellenbosch University 120 p. : ill. application/pdf Stellenbosch : Stellenbosch University |
| spellingShingle | Robocup Small Size League Distributed control architectures Omni-directional robot Multi-robot development platform Dissertations -- Mechatronic engineering Theses -- Mechatronic engineering Robotics Multi-robot systems Smit, Albert Development of a robot for RoboCup Small Size League, utilizing a distributed control architecture for a multi-robot system development platform |
| title | Development of a robot for RoboCup Small
Size League, utilizing a distributed control
architecture for a multi-robot system
development platform |
| title_full | Development of a robot for RoboCup Small
Size League, utilizing a distributed control
architecture for a multi-robot system
development platform |
| title_fullStr | Development of a robot for RoboCup Small
Size League, utilizing a distributed control
architecture for a multi-robot system
development platform |
| title_full_unstemmed | Development of a robot for RoboCup Small
Size League, utilizing a distributed control
architecture for a multi-robot system
development platform |
| title_short | Development of a robot for RoboCup Small
Size League, utilizing a distributed control
architecture for a multi-robot system
development platform |
| title_sort | development of a robot for robocup small size league utilizing a distributed control architecture for a multi robot system development platform |
| topic | Robocup Small Size League Distributed control architectures Omni-directional robot Multi-robot development platform Dissertations -- Mechatronic engineering Theses -- Mechatronic engineering Robotics Multi-robot systems |
| url | http://hdl.handle.net/10019.1/17785 |
| work_keys_str_mv | AT smitalbert developmentofarobotforrobocupsmallsizeleagueutilizingadistributedcontrolarchitectureforamultirobotsystemdevelopmentplatform |