This paper presents design methodologies and an implementation of autonomous table tennis ball collecting robot. The robot is designed with three major emphases to collect balls effectively in a real table tennis court: ball detection, navigation, and ball collection. For ball detection, a combination of blob detection and cascade classifier was utilized. The robot generates an optimal path toward detected balls using A* graph search algorithm and follows the path based on a mecanum-wheeled platform. The detected balls are collected using a suction motor and a 2-DOF active nozzle. The integrated system successfully demonstrates the given task in a real table tennis court.
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