PALB V

PALB V is our fifth robot generation. This time we played in the 2 on 2 Soccer league and the GEN II (generation II) league. Because of that we built two robots, both striker and keeper which would fight in both categories in both cases with a different software.
With these robots we were on a qualification in Nuerburgring, at the German Open, which took place on the HANNOVER MESSE which remains the world's leading exhibition for industrial technology and also on the World Championsship in Suzhou, China.

More PALB V pictures
PALB V Striker

History

Because we decided to change to the "2-vs-2" category, we needed two robots. Furthermore they were now allowed to be bigger and heavier, which was one of the main reasons why we changed from "1-vs-1". This time we started really early to built them and tried to plan what we wanted to do before we did it.
The outcome were two really nice robots, which did really well in the competitions. 

Hardware

Electronics:
  • 1 Mainboard with RN-Mega2560 Modul
  • 1 Camera module *
    • CMUcam3
    • CMOS camera with onboard processing developed at Carnegie Mellon University
    • Supplier: Elektronik Laden
  • 2 Sensor boards, Self-made
  • 2 Motorboards, Self-made
  • 1 Power board, Self-made

Dribbler:
  • heavily modified Lego wheels*

Chassis:
  • Omnidirectional Wheels with RB35 Motors, driven at 22V.

Kicker:

Ball Identification:
  • 16 Infrared Sensors, self-made
  • 2 Touch Sensors
Orientation:
  • 3 Ultrasonic-Distance Sensors, 1 Compass Sensor, 1 Camera Module*, 1 Ground Color Sensor

Software 

This time we had much time for our software and could develop a fairly good strategy for our robots.
Basically, we looked for the ball, caught it, aimed at the goal, and made many accurate goals.
The aiming is probably the hugest progress. We developed different camera filters with which we were able to differ between the opponents goalie, the walls and the goal. For more information, please check out our paper about the Vision System.


Success 

We won in the qualification and the German-Open. Furhermore, we also competed in the World Championships in Suzhou, China and became World Champions in the categorie GEN II.


* only on the striker

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