RoboCup Project - motion control of small robots

The robots

This project involves the investigation, implementation, testing and comparison of different motion control methods such as PID control, and fuzzy logic. The aim is to provide a control strategy, which will maximise the robot's accuracy and speed

The robots use differential steering to move around, encoders on each wheel provide feedback. There is also a tracker-ball device mounted on the underside of the robots, and time permitting, data from this will be used to gain greater precision. Algorithms will be simulated using Matlab and then tested on the robots.

[Picture of robot] [Picture of robot]

Wheel encoders

These provide 32 pulses per wheel revolution, this is used as feedback to control the robots motion

[Picture of encoder]

Tracker-ball

Hopefully, this will be used to give the robots extra precision

[Picture of tracker ball]