Full Text Available
Note: Clicking the button above will open the full text document at the original institutional repository in a new window.
Development of distributed control system for SSL soccer robots
Thesis (MScEng)--Stellenbosch University, 2013.
Saved in:
| Main Author: | |
|---|---|
| Other Authors: | |
| Format: | Thesis |
| Language: | en_ZA |
| Published: |
Stellenbosch : Stellenbosch University
2013
|
| Subjects: | |
| Tags: |
No Tags, Be the first to tag this record!
|
| _version_ | 1867613849578897408 |
|---|---|
| access_status_str | Open Access |
| author | Holtzhausen, David Schalk |
| author2 | Schreve, K. |
| author_browse | Holtzhausen, David Schalk Schreve, K. |
| author_facet | Schreve, K. Holtzhausen, David Schalk |
| author_sort | Holtzhausen, David Schalk |
| collection | Thesis |
| dc_rights_str_mv | Stellenbosch University |
| description | Thesis (MScEng)--Stellenbosch University, 2013. |
| format | Thesis |
| id | oai:scholar.sun.ac.za:10019.1/80221 |
| institution | Stellenbosch University (South Africa) |
| language | en_ZA |
| last_indexed | 2026-06-10T12:42:40.195Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from SUNScholar — Stellenbosch University Repository |
| publishDate | 2013 |
| publishDateRange | 2013 |
| publishDateSort | 2013 |
| publisher | Stellenbosch : Stellenbosch University |
| publisherStr | Stellenbosch : Stellenbosch University |
| record_format | dspace |
| source_str | SUNScholar — Stellenbosch University Repository |
| spelling | oai:scholar.sun.ac.za:10019.1/80221 Development of distributed control system for SSL soccer robots Holtzhausen, David Schalk Schreve, K. Blanckenberg, M. M. Stellenbosch University. Faculty of Engineering. Dept. of Mechanical and Mechatronic Engineering. Distributed control Sensor fusion Kalman filtering Small size league soccer Robots -- Control systems Middleware Theses -- Mechatronic engineering Dissertations -- Mechatronic engineering Multisensor data fusion 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. 2013-02-25T07:58:19Z 2013-03-15T07:40:57Z 2013-02-25T07:58:19Z 2013-03-15T07:40:57Z 2013-03 Thesis http://hdl.handle.net/10019.1/80221 en_ZA Stellenbosch University xvii, 108 p. : ill. application/pdf Stellenbosch : Stellenbosch University |
| spellingShingle | Distributed control Sensor fusion Kalman filtering Small size league soccer Robots -- Control systems Middleware Theses -- Mechatronic engineering Dissertations -- Mechatronic engineering Multisensor data fusion Holtzhausen, David Schalk Development of distributed control system for SSL soccer robots |
| title | Development of distributed control system for SSL soccer robots |
| title_full | Development of distributed control system for SSL soccer robots |
| title_fullStr | Development of distributed control system for SSL soccer robots |
| title_full_unstemmed | Development of distributed control system for SSL soccer robots |
| title_short | Development of distributed control system for SSL soccer robots |
| title_sort | development of distributed control system for ssl soccer robots |
| topic | Distributed control Sensor fusion Kalman filtering Small size league soccer Robots -- Control systems Middleware Theses -- Mechatronic engineering Dissertations -- Mechatronic engineering Multisensor data fusion |
| url | http://hdl.handle.net/10019.1/80221 |
| work_keys_str_mv | AT holtzhausendavidschalk developmentofdistributedcontrolsystemforsslsoccerrobots |