Real- Time Trajectory Prediction and Localization of Omni-directional Badminton Robot

Abstract

This paper proposes a strategy to predict the accurate shuttlecock trajectory and motion planning of the badminton robot using Kalman filter and Proportional-Integral-Derivative (PID) control. A PID control is used to accurately control and hold the position of the robot in a standard indoor badminton court. The conventional Kalman Filter and its various versions are mostly used to acquire the current state of the system, but the proposed modified Kalman Filter in this paper is used to predict the accurate trajectory of the shuttlecock. The effectiveness of the proposed strategy is validated experimentally for different trajectories and motion planning.