Design And Implementation Of Omni-directional Mobile Robot Vehicle Based On DSP

Robot soccer,referring to multi-domain and multi-disciplinary,is a good test bed for multi-agent system and artificial intelligence theory. So far, it has been focused by many research institutes and colleges, more and more researchers and scholars pay attention to it.The design of vehicles is basic part for motion of Robot, it's performance counts for much to whole system. A brief historical retrospect of RoboCup is given and the scheme of design for omni-directional WMR is provided. This scheme is combined with the modern techniques of RoboCup F-180 and fulfilled the requirements of acceleration arriving at 5.9 m/s2 and velocity arriving at 3m/s.Kinematics model of omni-directional WMR is provided and the simulation model of vehicle is also put forwarded based on the kinematics model and the mathematic model of Brushless DC Motor. Furthermore the simulation of the system under the conditions of shock load and fault are studied and the experimental results are analyzed.The design and development of hardware and software of robot vehicle are provided in systematic style. First, the architecture and the components of the whole hardware of robot vehicle is introduced. And then the design schemes of hardware are given in detail based on the DSP, which is used as the controller. The main parts of vehicle such as micro-controller, BLDC motor driver, detection of acceleration, detection circuits of gyro, components of communication, etc., are all introduced across-the-board. On the basis of wide survey, the scheme of combination DSP with CPLD is adopted as the basic hardware frame. The equipment of CPLD implements the functions of BLDC motor driver, velocity detection logical units, motors turning detection units. So the DSP can be centralized to control the motor velocity and implement varieties of complexity algorithms. Through the flow charts, the architecture of DSP programs are introduced, including interruption ,UART communication, capture of velocity, and ADC, etc. Simultaneously, the application of anti-jamming techniques in this system are demonstrated and analyzed. The PI control law is selected and the parameters are given. In the end, the whole implementation and test of hardware and software are introduced ,and the problems in test are adjusted or improved.