Small Wheeled Autonomous Mobile Soccer Robot

This paper presents the main mechanical and electrical characteristics of autonomous mobile robots with differential drive used in robot soccer competitions. The robots are endowed with embedded electronics powered by rechargeable batteries, wireless communication system, and the kick mechanism. Automatic kick mechanism is able to propel the ball with more speed, increasing the chance to score goals during the match. Several experiments that show the speed of the robot as a function of applied voltage in motors and also the speed of the ball as a function of the applied voltage kick mechanism will be presented, was also measured traction force to the robot as a function of applied voltage on the wheel motors, all of these experiments is to raise the characteristics of the robot but also find the equations between voltage actuators and robot speed, ball speed and range, and traction force of the robot. All these equations will be used by the robot control system.