This project involves the design, simulation, and control of a four-wheeled omnidirectional mobile robot capable of catching a thrown ball. The robot was manufactured using Nema 23 stepper motors, optical encoders, and an Arduino Mega 2560. A camera is used in conjunction with computer vision and the Extended Kalman Filter (EKF) algorithm to estimate the robot’s position and orientation. The project includes a Sliding Mode Controller and a simulation environment in PyBullet.
- Omnidirectional robot capable of catching a ball
- Extended Kalman Filter for real-time position estimation
- Sliding Mode Controller
- Simulation in PyBullet and MATLAB
- Real-time control using Arduino
- Arduino Mega 2560
- Python (PyBullet, OpenCV)
- MATLAB
- Stepper Motors and Optical Encoders