Design and development of an autonomous robot sumo

Abstract

The purpose of this project is to design and develop an autonomous sumo robot to compete in the Singapore Robotics Games 2009. This autonomous robot is a self-contained mobile robot that is able to make decisions on its own, based on the physical changes of the environment. Using its sensors and a robust algorithm, it is able to detect its enemy, act within constraints and react to their action by pushing them out of the ring.

First, literature review was done on preceding robots, based on their designs and strategy used. The pros and cons of the each design were analyzed. From the analysis, new designs and ideas generated through brain storming. They were then listed down and further analyze in the conceptual design.

Under conceptual design, the strategies to be used were being considered. With constraints in time and funding, the author chose the strategy that was most feasible and advantageous to his situation (Defensive). Defensive strategy also compliments the motor with high torque low speed configuration. Furthermore, based on the literature review, keeping the program simple has its own set of advantage. It permits the processor to have a high scan rate for its sensors. This will allow the robot to have high ‘sensitivity’ to its surrounding. It in turn allows the robot to react faster to enemy actions and exposed less of its vulnerable sides.

Having decided which strategy to use in the competition, there were a few ideas for the robot. The selection process was based on the functional design and morphological chart. Manufacturing of the final design was the last thing to be done, followed by constant testing and fine tuning.