Volkan SEZER, Duru SARICALAR, Kadir Furkan ÇAYBAŞI, Bekir ÖZTÜRK

TENİS TOPU TOPLAYAN OTONOM ROBOT TASARIMI

Bu çalışma kapsamında, tenis topunu otonom olarak toplayabilen bir robotun tasarımı ve gerçeklenmesi anlatılmaktadır. Top toplama alanı olarak, küçük ölçekli bir tenis sahası modellenmiştir. Planlama ve lokalizasyon için gerek duyulan görüntünün elde edilebilmesi için sahanın merkezine 2 metre yüksekliğinde bir kamera yerleştirilmiştir. Matlab™ yazılımı kullanılarak görüntü işleme gerçekleştirilmiş ve araç kontrolü sağlanmıştır. Geliştirilen robotta tenis topları, mekanik olarak kılavuzlar yardımıyla fırlatma mekanizmasına alınmakta ve haznede toplanmaktadır. Deneysel sonuçlar, yapılan tasarımın başarılı bir şekilde işlevini yerine getirdiğini göstermektedir.

DEVELOPMENT OF AN AUTONOMOUS TENNIS BALL RETRIEVER ROBOT

In this paper, design and implementation of an autonomous robot that collects tennis balls autonomously are explained. A small-scale tennis field is modeled as a ball-gathering area. In order to obtain the required image for localization and planning, a camera is placed 2 meters above the ground surface. Vehicle control is achieved after the image processing via Matlab™ software. Tennis balls are mechanically guided to the launch mechanism using guides and are collected in the chamber. Experimental results show that the design successfully fulfills its function.

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