Control System Design Of Soccer Robot Bottom Based On ARM7

Robot soccer, syncretizing computer vision, pattern recognition, decision, automatic control, communication, multi-agent system and other technics, has already become a fairly compelling hotspot in the artifical intelligence and intelligent robot research field.Micro soccer robot system consists of telecommunication subsystem, decision making subsystem,visual subsystem and mobile vehicle subsystem,in which mobile vehicle subsystem is the executive unit and plays a decisive role in the overall system.The paper analyses the research status for soccer robot control system, and attemptes to use embedded system theory. A mobile vehicle control system is designed in this thesis using ARM micro processor.Firstly, this paper analyses the design requirement of soccer robot bottom control system, and frames a system designed project using ARM micro as the kernel.Secondly, the paper presents in detail hardware and software design of the control system for soccer robots. It mainly includes center control system frame based on ARM embedded processor and DC motor controller modular design. In this part,some points are presented in detail, including hardware choosing, unit circuit design, control principle and control algorithm. It designes system testing platform based on PC,and carries system testing experiment.Finally, this paper tries using RTOS to control soccer robot combining the testing system, hi this thesis, the transport process and related mission design is presented.The feature of this paper is the combining of low power dissipation high-powered embedded microprocessor with intelligence algorithm,and designes relatively integrated soccer robot control system. It simplifies the system design and satisfies the command of robot football game,with favourable ability of extension and transport. It is also the first time to try to applicate ARM control unit in soccer robot system in robot system design,which can enrich the soccer robot system both in theory and in practice,and furtherly improves the soccer robot control in effect Pointing to platform, the RTOS is transpoted in the soccer robot system,which promotes the research of semi-autonomic robot to autonomic robot. At the same time, it is the further work of embedded system both in theory and practice.