A Practical Approach to Implementation an Autonomous Soccer Robot

Due to their advantages, omni-directional mobile robots have found many applications especially in robotic soccer competitions. however, omni directional navigation system, omni-vision system and kicking mechanism in such mobile robots have not ever been combined. this situation brings the idea of a robot with no head direction into existence, a comprehensive omni directional mobile robot. such a robot can respond more quickly and it would be capable for more sophisticated behaviours with multi-sensor data fusion algorithm for global localization. the methods have been tested in the many robocup competition field middle size robots.