PALB I

PALB I was the first robot we built for RoboCup. We played with it in the 1on1 league.
PALB I

History

Somebody told us about the RoboCup and because we were just done with other competitions, we decided, to move over to the Soccer league and have fun with playing Soccer with the robot against other teams.

Hardware

Electronic:
  • Qfix BobbyBoard, Qfix
  • Motor board for the Dribbler, Self-made
  • Sensor board, Self-made
Chassis:
  • two wheels
Dribbler:
  • Mouse wheel
Ball Identification:
  • 8 Infrared Sensors + 1 Light barrier
Orientation:
  • 3 Sharp Infrared Distance Sensor

Software

Our Software was simple but worked:
  1. The robot looked for the ball and avoided walls.
  2. When it found the ball, it drove straight until it saw a wall.
  3. After that the robot drove along the wall, until it saw a goal.
  4. When it saw a goal, it identified whether it was on the right side with the ground sensor. If it was on the wrong side, it turned around and began with step three again.
  5. If it was on the right side, it turned in the direction of the goal and shot with spinning the dribbler in the other direction.


Success

We played with PALB I in the 1on1 league at the qualification in Bremen in 2006 and made the first place.

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