Research Of Soccer Robot And Wireless Communication In Mirosot System

Robot soccer competition is a High-Tech activity that is developed rapidlyin 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 onmultiagency, robot and other related fields.Robot soccer system includes four subsystems: visual, decision-making,communication and robot subsystem. Communication subsystem is a bridgefor information transfer between decision-making subsystem and robot, androbot is the player in playground. Hence, whether robot is able to achieve theintention of decision-making subsystem or not depends on the capabilities ofcommunication and robot. In this dissertation, on the background of MiroSotcompetition, treating centralized micro soccer robot as the object, we try todesign an effective communication subsystem and an excellent robot player.The primary research is as follows:1. At first, introduced the origin and development, significance of studyand competition,research situation of robot soccer competition. Simplydescribed the MiroSot system architecture and every sub-systems functions.2. In the light of the requirement to robot, based on enhancing the motilityof robot, the design of wheels, the choices of motors and speed-downequipment are analysed accordingly.3. The principle of the hardware and software design is expatiated on,introduced the design of the soccer robot control system detailedly, includingthe choice of micro-controller, hardware of the whole control circuit andsoftware design of the microprocessor. Furthermore, making use of specialtesting flafform that we developed by ourselves, the capabilities of robot arecarried out, the effect of design is demonstrated by the test result.4. Based on improving anti-jamming and efficiency, the selection of wireless communication module and the communication protocol arediscussed in details; a design scheme of communication system structurebased on the core component—PTR4000 is put forward. The circuit design ofemitter and receiver is introduced detailedly, the realization of softwareprogram and flow charts are showed. Finally, The conclusion can be got thatPTR4000 module fit the demand of soccer robot wireless communicationsubsystem better than BIM module by experiment.