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"This project was part of my master's"
Project Summary:
Designed, manufactured, assembled, and programmed a RoboCup football-playing robot across two integrated semesters. Engineered mechanical subsystems including dribbler and kicker mechanisms, developed real-time ball and goal detection using camera vision, implemented LiDAR-based SLAM for environment mapping and obstacle avoidance, and established robust multi-robot communication over Wi-Fi using ROS1 and ROS2. The robot autonomously detects colored targets, navigates dynamically, communicates with teammate robots, and executes coordinated strategies using the Horizon Pi microcomputer and advanced control systems.
Designed in SOLIDWORK and rendered using KeyShot8
Robot after assembly
Project details:
This project was divided into 2 semesters, and the following section shows what work I've done in the different phases of these semester.
Phase 1: Design & Assembly
Mechanical Design & CAD: Designed dribbler, kicker, and chassis modifications in SOLIDWORKS, and rendered them using KeyShot
Electronics & Circuits: Built and integrated control circuits using dual-channel relays, buck converters, and GPIO-based control
Hardware Assembly: Assembled complete robot with the provided robot base
Phase 2: Core Software & Control
Ball & Goal Detection: Implemented vision-based detection using OpenCV and HSV color filtering
Movement Control: Developed proportional movement algorithms (exp_move.py) for intelligent navigation
Kicking & Gripping: Programmed Arduino-Horizon Pi communication for precise ball manipulation
Phase 3: Advanced Autonomy & Mapping
LIDAR & SLAM: Implemented real-time mapping using 2D LiDAR and SLAM Toolbox for obstacle detection
Simulation: Built 1:1 Gazebo simulation with URDF robot model and skid-steer drive plugin
Multi-Robot Networking: Configured FKIE multimaster ROS networking for robot-to-robot communication
Mapping structure and topics
Gazebo11 semulation
Functional Assembled System:
Skills Demonstrated:
This section shows the skills I developed/improved working on this project.
Mechanical Design & CAD: Full system design of dribbler, kicker, and chassis in SOLIDWORKS
Design for Manufacturing (DFM): Adapt the design for 3D-Printing and generating and STL files for 3D printing
Component Sourcing: Researching and selecting appropriate motors, bearings, and electronic components and producing a BOM
Electronics: Design modular plug and use electrical circuits
Embedded Systems: Use of Arduino for motor control and sensor interfacing, and using a Horizon Pi as a main computer.
Computer Vision: Implementing real-time ball and goal detection using OpenCV and HSV color filtering.
ROS Development: Building multi-node ROS architectures for robot control and inter-robot communication.
SLAM & LiDAR Integration: Implementing real-time environment mapping and obstacle detection using LIDAR.
System Integration: End-to-end integration of mechanical, electrical, and software subsystems.
Troubleshooting & Debugging: Diagnosing and resolving complex hardware-software integration issues.
Documentation & Reporting: Generating comprehensive technical reports, diagnostic logs, and system architecture diagrams for team coordination and knowledge transfer.
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