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Bau und Programmierung eines Fußballroboters - Facharbeit

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This is the result of my Facharbeit (skilled work) for physics. The title is "Bau und Programmierung eines Fußballroboters" ("Construction and programming of a soccer robot") and it is a robot for the RoboCupJunior 1 vs 1 Secondary. The theory can be downloaded here: http://www.jsg-abi2008.de/exchange/FST_Facharbeit.pdf (German) The position recognition isn't implemented yet, thus the robot sometimes gets stuck in the corners. The only sensors used are 20 IR-transistors and a compass. The actuation is made with three omnsi-wheels, by this the robot can drive in any direction while rotating.