Ballbot: A Low-Cost Robot for Tennis Ball Retrieval
John Wang
EECS Department
University of California, Berkeley
Technical Report No. UCB/EECS-2012-157
June 2, 2012
http://www.eecs.berkeley.edu/Pubs/TechRpts/2012/EECS-2012-157.pdf
This paper presents a robotic platform which is targeted to perform the task of a tennis ball boy. This platform is self-contained with on-board sensing and computation, uses only cost-effective off-the-shelf components, and was designed to perform robustly and repeatably in semistructured real-world environments. In particular, this paper presents a particle-filter implementation that allows the robot to localize itself and navigate on a tennis court. Along with navigation and tennis ball detection, this will enable it to pick up tennis balls on a real tennis court. This paper describes our system, presents our initial experimental results, and discusses some of the challenges faced.
Advisor: Pieter Abbeel
BibTeX citation:
@mastersthesis{Wang:EECS-2012-157,
Author = {Wang, John},
Title = {Ballbot: A Low-Cost Robot for Tennis Ball Retrieval},
School = {EECS Department, University of California, Berkeley},
Year = {2012},
Month = {Jun},
URL = {http://www.eecs.berkeley.edu/Pubs/TechRpts/2012/EECS-2012-157.html},
Number = {UCB/EECS-2012-157},
Abstract = {This paper presents a robotic platform which is targeted to perform the task of a tennis ball boy. This platform is self-contained with on-board sensing and computation, uses only cost-effective off-the-shelf components, and was designed to perform robustly and repeatably in semistructured real-world environments. In particular, this paper presents a particle-filter implementation that allows the robot to localize itself and navigate on a tennis court. Along with navigation and tennis ball detection, this will enable it to pick up tennis balls on a real tennis court. This paper describes our system, presents our initial experimental results, and discusses some of the challenges faced.}
}
EndNote citation:
%0 Thesis %A Wang, John %T Ballbot: A Low-Cost Robot for Tennis Ball Retrieval %I EECS Department, University of California, Berkeley %D 2012 %8 June 2 %@ UCB/EECS-2012-157 %U http://www.eecs.berkeley.edu/Pubs/TechRpts/2012/EECS-2012-157.html %F Wang:EECS-2012-157