Design of a mobile robot for RoboCup Middle Size League

This article presents a design of a four-wheeled omnidirectional mobile robot for RoboCup Middle Size League. The mobile robot was built for the 5dpo-2000 Robotic Soccer team from the Department of Electrical and Computer Engineering at the University of Porto, Portugal. The robot's architecture and communication structure are presented. A nonlinear modeling and a motion analysis based on the dynamics, kinematics, and DC motors are analyzed. This model could find the nonlinear saturation elements, such as limits of current of the motors, amplitude of the applied voltage in the motors, and frictions related to equation of motion. Simulation results are provided to demonstrate the performance of the proposed project.