Development of autonomous ball launcher system on surface vehicle for detect and deliver mission in 2016 Maritime RobotX Challenge

摘要

This paper is about autonomous ball launcher system on Autonomous Surface Vehicle. The work was done for `Detect and Deliver' task which is a part of 2016 Maritime RobotX Challenge. In this task, ASV should propel or insert racquet balls through the target holes on the face which has assigned shape. To perform the task, pneumatic launcher system was developed. The launcher system is divided into compression module and launching module. Camera image processing is performed to aim at the target hole. The system development process and task carrying out strategy are demonstrated in the paper. The result was validated by experiment. At the end of the paper competition result is also presented.