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On Development of An Autonomous Ball Collecting Wheeled Mobile Robot

This paper presents the technological details of an autonomous ball collecting wheeled mobile robot for tennis and table tennis. A novel mechanical structure of ball collecting device is designed and fabricated. Two wheel differential driving mechanism with an omnidirectional wheel is implemented to actuate and steer the robot. Lidar and RGB-D camera are used to detect environmental information as well as scattered balls in the training field to provide robot with navigation information. Experimental results verify the effectiveness of each subsystem.