Enhancing soccer robot movement accuracy using omnidirectional wheel

Capabilities to make decisions of its movement and to move accurately are undoubtedly very important for robot soccer. Elaboration of robot soccer design with omnidirectional motion capability to enhance the robot movement accuracy is reported in this paper. The implementation and simulation of basic decision support system to determine robot movement according to their current environment is also reported. Experiments show that the robot is able to move accurately both in forward and rotational directions. For forward direction 3.33% and 4% of error in x-axis and y-axis, respectively are obtained, whereas average error of 2.111 for 15° and 2.22 for 135° in counter-clockwise direction, and 6.413 for 15° and 5.077 for 135° in clockwise direction is obtained for rotational direction.