ISocRob 2011 Hardware and Software Description

– The robot’s vision system is based on an AVT Marlin F-033C firewire camera, which is equipped with a fisheye lens providing a field-of-view of 185◦, facing downwards. This dioptric system endows the robot with omnidirectional vision, capable of detecting relevant objects (such as the ball and other robots) at a distance of up to 5 m. This particular setup is also less sensitive to vibrations caused by the robot’s motion than the previously used catadioptric system; – Each of the robot’s motors is coupled to a 500 CPR encoder for motor control and odometry; An Analog Devices rate-gyro(XRS300EB) is present to improve selflocalization. – Each of these components is powered by two packs of 12V 10Ah NiMH batteries per robot, wired in parallel.