The Study Of The Control System Of The Autonomous Soccer Robot

Autonomous Robot has been broadly used in the field of science, exploration and military, and it has become one of the focuses in the field of robot. Recently, Autonomous soccer robot, which has provided a lot of new ideas, has opened a new area for this field. Its achievements also present the most advanced technology in the robot field.Firstly, this paper gives a brief introduction of the history and development of soccer robot, together with the present research situation of this subject. After that, the system structure of the "NEWNEU" autonomous soccer robot of Northeastern University is introduced, functions and peculiarities of each subsystem are also briefly introduced. Among all the subsystems, drive and control subsystem, vision subsystem are the emphases.By taking the characteristics of the autonomous soccer-robot's movement into consideration, this paper analyses the required function of the drive and control subsystem, provides a solution based on PWM technology. Detailed designs of the circuit are also given in this paper, such as the control unit, speed-measuring unit, motor driving unit, communication unit, and so on.Vision subsystem is another emphasis of this paper. This subsystem uses omnidirectional vision sensor as the image capture device. Thinking of the specialties of the soccer robot competition, region growing with variable step length algorism is used to segment the colorful image. Different targets are distinguished by their different colors, locations and shapes. As the image got from the omnidirectional vision is aberrant, how to calibrate the actual location of the target needs to be studied. The...