Research Of Decision-Making And Wireless Communications In MiroSot System

Robot soccer competition is a High-Tech activity that is developed rapidly in recent years. It is the combination products of sport and the high-tech.Soccer robot relates to many fields such as robotics, computer, data communications, image processing, sensor and artificial intelligence etc. Therefore, it provides a favorable experimental flatform for the research on multiagency, robot and other related fields.Centralized Robot Soccer Competition System is vision concentrated robot system. All the scene information come from the camera on the stadium. Robot soccer system includes four subsystems: visual, decision-making, communications and robot subsystem. Decision-making subsystem is the brain of the whole system, which deciding our offense or defense and making our route Planning. Wireless communications subsystem is the connecting linker of decision-making and robot subsystem. It is so important that it could impact the realization of the decision-making purpose. In this dissertation, on the background of MiroSot competition, treating centralized micro soccer robot as the object, we try our best to have improven the decision-making and robot subsystem.The primary research is as follows:1. At first, introduced the origin and development significance of study and competition,research situation of robot soccer competition. Simply described the MiroSot system architecture and every sub-systems functions.2. Introducing the composition of the robot soccer competition system including visual, decision-making, communications and robot subsystem. which giving the readers a general understanding.3. First, inctrocuced the hierarchical structure of decision-making subsystem. Second, it designed the double fuzzy controller of Route Planning. Third, it discussed the issues of robot avoiding butting and the avoiding butting methods. And it has designed the method of the shortest path planning. based on the geometry. Finally, it designed robot action, including basic action, complex action, Goalkeeper action and ball position action.4. This paper presents a new design of FIRA Robot Soccer wireless communications subsystem, Which introduces the PTR6000 wireless communications module and gives the system components and hardware architecture. Meanwhile, the pecific communication protocol adopted BCH error-correcting codes is gaven. Its conformed that the new subsystem can improve the capability of communication efficiently.