Research And Developing Of Motion Control System Of Autonomous Soccer Robot

It is a highlight on the study of Middle Size Robot League in robot soccer game today. Soccer robot relates to many fields such as robotics, computer, data communication, image processing, sensor and artificial intelligence etc. Robot soccer game is a tournament combined knowledge with amusement, and it also is a visual window to show high science and technology achievements. Middle Size Robot League represents the top technological level in the field of RoboCup. It needs a rapid and reliable motion control system for soccer robot to play football game. This paper researches on and develops the motion control system of autonomous soccer robot, and includes four parts as follows.First,the paper introduces the classification and research significance about soccer robot,and introduces the background and content of the research.also,the paper mainly introduces the robot soccer game of Middle Size Robot League and the structure of Middle Size Robot League.Second,an overall design scheme is made by analyzing the function requirements of the motion control system, and the process of both hardware design is discussed in detail. Hardware design includes six units:Processor, Motor Driving, Speed Feedback, Serial port Telecommunication, Kicker Control .Power.Third,the paper introduces the development environment and the software flow of motion control system. Method of modularization is applied in software programming and there are three modules: Initialization, Main program, Sub-program. Control system flow which includes: command data frame definition, receiving, decoding and execution by main control loop, the sorting and execution process of timer interrupt sub-function,the prevention and handling of abnormal conditions,etc.Finally,the achievements of this thesis are summarized and the future work of improvment is prospected.