Robocup Middle Size Robot Control Architecture And Drive System Design And Implementation

With the development of the science and technology, the need of high-level intelligent mobile robot system becomes more and more urgent in many fields. Accordingly, mobile robotics research comes into a new age. People are more and more aware that the control system structure and drive system play an important role in the whole mobile robot system.Our research object is the full-independent robot of the Institute of Automation & Chinese Academy of Sciences, and this thesis investigates the control system structure and drive system of the mobile robot.. The main work and specific contributions of this research are as follows:Firstly, the application background and development status are summarized, the origin, sort and status in quo of the football robot are briefly introduced, then the ROBOCUP football robot is specified. As this, the ROBOCUP football robot can be comprehended step by step.Secondly, by means of analyzing several familiar control system structures and information amalgamation hiberarchy of robot., the characteristic of a control system structure based on parallel behaviour combination is summarized. Also, the analysis of the robot's basic behaviour and the design of the behaviour control hiberarchy are expatiated in detail.Thirdly, by means of the forenamed concept of control system structure, the design of the robot control system is carried through software and hareware: In hareware aspect, in order to make multi-DSP disposal platform, adopt several DSP to deal with their corresponding module function; In software aspect, embody the idea of configurability and modularization as well as considering the software platform's currency. Thus, the realization of this control structure on multi-DSP system and RTOS platform is done.Fourthly, by discussing several familiar drive structures' characteristic, a new drive structure and method of mobile robot platform is summarized. By it's means, develop and exploit a high capability and price football robot drive platform which bases on DSP and CPLD. Thus, the design of high integration, high capability, multi-motor motion control system is finished.Fifthly, by adopt new matrix coordinate system means, found a tricycle WMR's kinematic model, especially the investigation in the kinematically modeling of steered wheel and non-steered wheel. At the same time, the dynamic modeling of robot's playing football motion, consummate mobile robot's system.By the comparison with the two-wheeled differential drive structure on line or circular track's simulation experiment result, illustrate the tricycle WMR's superiority more and more.Finally, summarize the author's research results, and describe some topic for future research.