Design and Development of Path Planning Techniques for a Tennis Ball Retriever Robot
Keywords:
Coverage Path Planning, Mobile Robot, Probabilistic Roadmap Method, Tennis,Abstract
During a tennis solo training, players usually train using an automatic ball launcher machine. After some time, they are required to collect all the balls scattered all around the court themselves to refill the launcher machine. This is a physically challenging procedure, which is generally loathed by keen tennis players and may cause unwelcome injuries. This study aims to design of an autonomous tennis ball retriever that will discard all the unnecessary energy and time wasting in traditional ball picking up method. This robot will sweep all the balls using a suitable path planning technique. After this, a few path planning methods such as Coverage Path Planning (CPP) U-Turn, CPP ISS, and Probabilistic Roadmap Method (PRM) were integrated into the tennis ball retriever robot for comparison. After comparison between all the experiment done, CPP U-Turn is proven the best path planning method among the three tested algorithms to be integrated into a tennis ball retriever robot.References
S. A. Mnubi, "Motion Planning and Trajectory for Wheeled Mobile Robot," International Journal of Science and Research (IJSR), vol. Volume 5, no. 1, pp. 1064-1066, 2016.
M. Strandberg, Robot Path Planning: An Object-Oriented Approach, Stockholm, Sweden: Royal Institute of Technology (KTH), 2004.
P. Lima and M. I. Ribeiro, "Introduction to Mobile Robotics," in Mobile Robotics, Instituto Superior Técnico/Instituto de Sistemas e Robótica, 2002, pp. 22-24.
Y. Zhao and S. L. BeMent, "Kinematics, Dynamics and Control of Wheeled Mobile Robots," in International Conference on Robotics and Automation, Nice, 1992.
D. Szondy, "Murata's Dancing Robotic Cheerleaders Showcase Advanced Group Control," New Atlas, Tokyo, 2014.
I. Elamvazuthi and V. Singh, "Development of an Autonomous Tennis ball Collector," December 2015. [Online]. Available: https://www.researchgate.net/publication/283347206.
M. Farrell, J. Hack and R. Irwin, "Bear Claw: Tennis Ball Collector," University of California, Berkeley, Carlifornia, 2009.
D. Ford, "The BallBot Project," Encoder: The Newsletter of Seattle Robotics Society, pp. 1-12, August 1999.
K. Leena. N, "A survey on path planning techniques for autonomous mobilerobots Leena.N1, K.K.Saju1," IOSR Journal of Mechanical and Civil Engineering, pp. 76-79, 2014.
Z. Cai, "Research on Complete Coverage Path Planning Algorithms based on A* Algorithm," The Open Cybernetics & Systemics Journal, no. 8, pp. 418-426, 2014.
G. Enric and C. Marc, A Survey on Coverage Path Planning for Robotics, Catalonia: University of Girona Press, 2013.
Z. L. H. Y. a. H. E. L. Cao, "Region filling operations with random obstacle avoidance for mobile robotics," Journal of Robotic Systems, vol. 5, no. 2, pp. 87-102., 1988.
H. Choset, "Coverage for robotics: A Survey of Recent Results," in Annals of Mathematics and Artificial Intelligence, Pennsylvania, Kluwer Academic Publishers Hingham, 2001, pp. 113-126.
S. Carpin, "Randomized Motion Planning - A Tutorial," International Journal of Robotics and Automation, vol. 3, no. 21, pp. 184-196, 2006.
R. G. a. M. Overmars., "A Comparative Study of Probabilistic Roadmap Planners," Workshop on the Algorithmic Foundations of Robotics, pp. 43-57, 2002.
L. E. Kavralu, P. Svestka and J.-C. Latombe, "Probabilistic Roadmaps for Path Planning in High-Dimensional Configuration Spaces," Ieee Transactions On Robotics And Automation, vol. 12, no. 4, pp. 568-571, 1996.
H. Choset, W. Burgard, S. Hutchinson, G. Kantor, L. E. Kavraki, K. Lynch and S. Thrun, "Theory, Algorithms, and Implementation," in Principles of Robot Motion, Massachusetts, MIT Press, 2005, pp. 121- 123.
Downloads
Published
How to Cite
Issue
Section
License
TRANSFER OF COPYRIGHT AGREEMENT
The manuscript is herewith submitted for publication in the Journal of Telecommunication, Electronic and Computer Engineering (JTEC). It has not been published before, and it is not under consideration for publication in any other journals. It contains no material that is scandalous, obscene, libelous or otherwise contrary to law. When the manuscript is accepted for publication, I, as the author, hereby agree to transfer to JTEC, all rights including those pertaining to electronic forms and transmissions, under existing copyright laws, except for the following, which the author(s) specifically retain(s):
- All proprietary right other than copyright, such as patent rights
- The right to make further copies of all or part of the published article for my use in classroom teaching
- The right to reuse all or part of this manuscript in a compilation of my own works or in a textbook of which I am the author; and
- The right to make copies of the published work for internal distribution within the institution that employs me
I agree that copies made under these circumstances will continue to carry the copyright notice that appears in the original published work. I agree to inform my co-authors, if any, of the above terms. I certify that I have obtained written permission for the use of text, tables, and/or illustrations from any copyrighted source(s), and I agree to supply such written permission(s) to JTEC upon request.
