The Research Of Small Size Soccer Robot Control System Based On DSP And FPGA

Robot soccer contains many technologies such as mechanism designing, automation, wireless communication, image identify, artificial intelligence and so on. It has already become a hotspot in the robot researching field. The result of robot soccer reflects the integrative ability of a team in all relative subjects.A soccer robot system can be divided into four subsystems, known as communication subsystem, decision subsystem, vision subsystem, and robot subsystem. Robot subsystem is the executive organization of the whole system, and its performance is the key factor of victory. After investigating the development of small size soccer robot in the world, this paper designs a control system of small size soccer robot based on DSP and FPGA, which has the characteristics of fast response, high precision and so on. The main researches of the paper are shown as below:(1) Expatiate the significance of the robot soccer match. Analyze the course and actuality of the soccer robot at home and abroad.(2) Investigate the control method of soccer robot with four omnidirectional wheels distributing like butterfly. Use Matlab to simulate the robot moving, and get the maximum speed and acceleration which provides the theoretic foundation to the robot control.(3) The paper mostly expatiates the hardware design of soccer robot platform. The hardware contains multi-motor control, wireless communication, ball-kicking circuit, power management, data storage, etc. the paper gives the detailed explanations to selection of the core components, FPGA hardware designs and so on.(4) Give the explanations of PID control, wireless communication protocol, AD sampling program, system initialization, the included IQ-Math library, etc. Describe the function and structure of the functions in the program, and give the annotates to some important programs.(5) Conclude the problems encountered during the course, and discuss the potentials of the system.The characteristic of this paper is that it compares the schemes carefully during the design, the combination of high-performance DSP processor and FPGA enhances the process capability of the system. EP1C3 collects the data, and TMS320F2812 communicates with it...