Ball-Scorer: Design and fabrication of an autonomous ball scoring robot

Author

Amar, Muhammad ; Asad, Muhammad Usman ; Farooq, Umar ; Raza, Asif ; Iqbal, Asim ; Tahir, Osama

Author_Institution

Dept. of Electr. Eng., Univ. of The Punjab, Lahore, Pakistan

Volume

1

fYear

2010

fDate

26-28 Feb. 2010

Firstpage

598

Lastpage

602

Abstract

Ball-Scorer is a differentially driven autonomous robot that was fabricated to compete in National Engineering Robotics Contest (NERC) 2008. This paper discusses the development of each component of the robot that is designed to pick up the balls from ball stand by navigating through a grid of white lines and potting these balls into goal posts of different heights. The sensory system of robot comprises of infrared sensors, potentiometers and bump switches. Three controllers namely proportional integral, proportional and proportional integral derivative are designed using root locus technique for navigation, ball picking and ball launching systems respectively. These controllers are then implemented using a single chip low cost AT89C52 microcontroller. Results are presented to show the validity and performance of the entire system. The robot can also be utilized in class room for teaching electromechanical and control systems principles.

Keywords

control system synthesis; mobile robots; navigation; three-term control; AT89C52 microcontroller; autonomous ball scoring robot design; ball launching system; ball picking system; ball-scorer; bump switches; control systems principle teaching; differentially driven autonomous robot; electromechanical teaching; infrared sensors; navigation system; potentiometers; proportional controller design; proportional integral controller design; proportional integral derivative controller design; root locus technique; sensory system; Control systems; Fabrication; Infrared sensors; Navigation; PD control; Pi control; Potentiometers; Proportional control; Robot sensing systems; Switches; P, PI, PID controllers; ball launching, microcontroller implementation; ball picking; ball scoring robot; line tracking; root locus technique;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer and Automation Engineering (ICCAE), 2010 The 2nd International Conference on

Conference_Location

Singapore

Print_ISBN

978-1-4244-5585-0

Electronic_ISBN

978-1-4244-5586-7

Type

conf

DOI

10.1109/ICCAE.2010.5451341

Filename

5451341