| Robot soccer, is a new high-tech competition which was developed widely as an internationally activity in the recently years. Although its lasting time was still not very long, it already attracts extensive notice and interests on it since it includes high-tech, amusement and competition. Robot soccer, referring to the fields of robotics , intelligent control data fusion computer technology wireless communication image processing artificial life mechanics and so on. is a good test bed for multi-agent system and multi-robot theory. It also offers a vivid research model for the researching works of the multi-agent system theory;therefore, it makes the theory and practice compacted closely.Basically, the whole system consists of four subsystems: robots vision, decision-making and communication subsystem. According to MIROSOT (Micro-Robot World Cup Soccer Tournament), when the match is running, the decision-making subsystem controls or manipulates the robots by processing information, which includes robots and ball's posture from vision subsystem with a host computer and sends command to robots directly.First at all, the structures and the mostly hard components of this Robot Car control system are designed. The constitution and structures of the whole system are analyzed, and the function and the hardware structures of DSP are presented, and so on. The main content includes: the choice of CPU, serial communication interface chcuits, motor drive control, speed feedback detection and so on.Secondly, the thesis is also concerned with the design of control software of the system according to the control requirements. This partanalyzes the software structures, and then designs each program module that deal with main program, serial communication and verify, PID control.Finally, in order to improve the controlling property of the system, anti Interference and Multi-Cycle Synchronization with Two Counters method has been discussed. Meantime, the performance test is also presented. |
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