An Autonomous Omnidirectional Robot

Table 1

Ranking of the individual design modules.

	Best …			… Worst
Mobility	Four wheel	Two wheel	Three wheel
Mechanical base	Pyramid	Bullet	Box
Kicking mechanism	Swing lift with plunger	Spring loaded sliding	Pneumatic kicker with plate	Swing Arm
Microcontroller	DSP microcontroller	Low power microcontroller with a laptop	Networked microcontroller	Low power microcontroller with a PC
Motor control	Multiple motor controllers	Single motor controller
Power	24 V DC	Parallel 12 V DC	Single 12 V DC