Omnidirectional robot system and localization for fira robosot

Abstract

There are many ways to build a robot for FIRA Robosot. In the game, the robot should be able to dribble a ball skillfully and be able to move with perfect freedom. This paper describes the design process of building an omnidirectional robot platform and system for FIRA Robosot. We used mecanum wheels, omni vision system with omni mirror and a camera for building the robot. For robot localization, we proposed robust localization algorithm in the FIRA ROBOSOT playground.