A practical approach to control and self-localization of Persia omni directional mobile robot

Omni directional mobile robots have been popularly employed in several applications especially in soccer player robots in Robocup competitions. However, control and self-localization of omni directional mobile robots are important issues and different teams in the Robocup competitions have used different techniques to tackle it. Since it is very complicated to calculate the omni directional system transfer function as in classic control, a simplified model of the system would be helpful for estimating the PID coefficients of the robots' position and orientation control. The vision-based self-localization combined with the odometry system enables us to have a robust self-localization method. The findings have been tested in the Robocup competition field using three Persia middle size omni directional robots.