Three Wheeled Omnidirectional Soccer Robot Modelling and Wireless controlling using Bluetooth enabled PlayStation Controller

This paper presents a project designing and functioning of the Omni-Direction Holonomic Robot for Robo Soccer.It serves as an agile, fast, efficient, and energy-saving unit against all previously designed units of Omni-directional robots.Since This robot is remotely controlled via Bluetooth and a PS3 controller with help of an arduino uno, making it efficient and easy to maneuver out of all other designs as it saves a considerable amount from your pocket through a reduced manufacturing process and focuses on utilizing the resources in the best possible way.It's the first-ever made robot that functions on an integrated combination of Arduino Uno R3 with the Bluetooth enabled PlayStation controller.The direction calibration is done through the kinematic model and formulations, which helped the logic to access the root of the processors and helped us to enhance the functioning of the robot.1. Introduction The robotic platform resulting from attaching omnidirectional wheels to a chassis is called holonomic because the resulting vehicle can drive a path with independent orientation, and X-Y motion.The degrees of freedom that can be controlled is equal to all the degrees of freedom of the robot.Omnidirectional wheels roll forward like regular wheels but slide sideways with no friction (or very little friction).Omni wheels differs from a traditional Ackerman-steered vehicle or a tracked vehicle that must use skid-steering.An omnidirectional robot can perform movements in any direction without the need to reorient, allowing more mobility and increasing the robot's degree of freedom.This feature is accomplished by controlling the omnidirectional wheels, combining their vectorial forces and velocities.For a dynamic and kinematic model of the robot, it is necessary to consider magnitudes like speed, acceleration, and strength that is provided by the motors and the energy put into the system.To move in close regions and to maintain a strategic distance from hindrances, versatile robots ought to have improved mobility and maneuverability.These abilities mostly depend upon the wheel's design.Omni-Wheel Multi-Direction robots are particular as they can move freely in any direction based on the command.It can roll like a regular robot or move laterally.Omni-directional wheels with right frame permits a robot to change over from a non-holonomic robot to a holonomic robot.A non-holonomic robot utilizes ordinary common wheels and have just two out of three controllable DOF, that moves front/reverse and pivots.Conventional Wheel Mobile Robots (WMRs) are confined in their movement because they cannot move sideways during the initial maneuver.Three-wheeled frameworks are mechanically more straightforward, yet robots with four wheels have more acceleration with a similar sort of motors.Four-wheeled robots are relied upon to have a better surface traction, that is, less wheel slippageexpecting that all wheels are forced against the floor similarly.Obviously four-wheeled robots likewise have a greater expense in equipment, increased energy utilization, and may require a suspension to convey forces equally to all the wheels.2. Literature Review A special class of mobile robots are omnidirectional robots.These robots are designed for 2D planar motion and are capable of translation (x, y) and rotation around their center of gravity (θ): three degrees of freedom (3 DOF).Unlike conventional vehicles, omnidirectional robots can control each of their DOFs independently.In order to operate effectively, mobile robots should be able to keep track of their current position (localization), sense their surroundings (perception), be able to generate a path to their destination (path planning) and execute it (navigation) in an efficient manner.(Baede, T.A., 2006).Omnidirectional robots are becoming a much-sought solution to mobile robotic applications.This kind of holonomic robots are interesting because they allow greater maneuverability and efficiency at the expense of some extra complexity.One of the most frequent solutions is to use some of Mecanum.A robot with 3 or more motorized wheels of this kind can have almost independent tangential, normal and angular velocities.Dynamical models for this kind of robots are not very common due to the difficulty in modeling the several internal frictions inside the wheels, making the model somewhat specific to the type of wheel being used.(Oliveira, 2008).The use of wheels is more energy-efficient than legged or treaded robots on hard and smooth surfaces.The most popular wheeled mobile robots use two independent fixed driving wheels with two degrees-offreedom (DOF) instead of three DOF (x,y,θ).These robots, like for example domestic cleaners, have only two actuators, requires less space to rotate around any point and this also allows three DOF, but their limitation is that they cannot perform holonomic motion such as sideways movements.Omnidirectional mobile robot's devices offer interesting features when operating in tight spaces.shows a mobile robot design equipped with steerable wheels published by Wada and Mori.They allow both rotation and also sideways motion, but not simultaneously.Holonomic robots are based in the use of three or four omnidirectional wheels, which are composed.(Moreno, J., 2016)