An Autonomous Omnidirectional Robot

Table 2

Five conceptual designs.

	Concept 1	Concept 2	Concept 3	Concept 4	Concept 5
Mobility	Four wheel	Four wheel	Four wheel	Two wheel	Three wheel
Mechanical Base	Bullet	Pyramid	Bullet	Pyramid	Pyramid
Kicking mechanism	Spring loaded sliding	Swing lift with plunger	Pneumatic kicker	Spring Loaded Sliding	Swing lift with plunger
Microcontroller	Low power microcontroller with a laptop	DSP microcontroller	DSP microcontroller	Networked microcontroller	Low power microcontroller with a PC
Motor Control	Single motor controller	Multiple motor controllers	Multiple motor controllers	Single motor controller	Multiple motor controllers
Power	Parallel 12 V DC	Parallel 12 V DC	24 V DC	24 V DC	Parallel 12 V DC