System design for autonomous table tennis ball collecting robot
- Seong Ho Yeon, Dayeon Kim, Gilhyun Ryou, Youngwoo Sim
- Citation
- 17th International Conference on Control, Automation and Systems (ICCAS), Jeju, Korea, 18 - 21 October 2017
- Abstract
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.
- Year
- 2017