Motion Control And Path Planning Of RoboCup Small Size League (F-180)

With the development of computer technology, research on the theory and application of Multi-agent system (MAS) has become a hotspot in the field of Artificial Intelligence. An interesting and attractive emerging domain that is particularly appropriate for studying these issues is Robotic Soccer.In this paper, we focus on RoboCup Small Size League, discuss path planning algorithm of decision subsystem and describe design of onboard subsystem.In first part we summarize the background and the development of this project. In second part we give an overview of the architecture of Small Size RoboCup. The third part discuss path planning problem. The forth part describe a path planning algorithm and its implementation for kinodynamic motion planning for multiple mobile robots in dynamic environments. The fifth part demonstrates the design of onboard subsystem from point view of hardware and software. The sixth showed the conclusions.The main contributions include:1) Review the development of path planning in robot system.2) Develop a path planning algorithm and its implementation for kinodynamic motion planning for multiple mobile robots in dynamic environments based on Small Size RoboCup.3) Implement cascade control system to regulate wheel speed by DSP and motor driver instead of ordinarily single closed loop system.