Research And Design Of Centralized Micro Soccer Robot

Robot soccer competition is a High-Tech activity that is developed rapidly in recent years. Soccer robot relates to many fields such as robotics, computer, data communication, image processing, sensor and artificial intelligence etc. Therefore, it provides a favorable experimental flatform for the research on multiagency, robot and other related fields, and it is helpful to theory' s combining with practice.Robot Soccer system includes four subsystems: visual, decision-making, communication and robot subsystem. Communication subsystem is a bridge for information transfer between decision-making subsystem and robot, and robot is the player in playground. Hence, whether robot is able to achieve the intention of decision-making subsystem or not depends on the capabilities of communication and robot In this dissertation, on the background of MiroSot competition, treating centralized micro soccer robot as the object, we try to design an effective communication subsystem and an excellent robot player. The primary research is as follows:The requests to communication subsystem and the noise-interference phenomenon in wireless communication are analysed deeply. Based on improving anti-jamming and efficiency, the selection of wireless communication module and the communication protocol are discussed in details. In order to eliminating the influence of serial port's resources being engrossed, a design scheme of transmitter structure based on the core component-PTR2000 is put forward; in software design, a suitable communication protocol is established, and a simple and reliable check method is advanced; finally, the realization of software programe and flow charts are showed.In the light of the requirement to robot, robot mechatronic system is studied systemically. Based on enhancing the motility of robot, the design of wheels, the chices of motors and battery are analysed accordingly; then the structure of robot body is designed; otherwise, the composition and design scheme of robot control system are introduced briefly.Finally, making use of special testing software that we developed by ourselves, the capabilities of system, including communication system and robot are carried out, and the result is presented; at the same time, the effect of design is demonstrated.