| Robot soccer competition is a High-Tech activity that is developed rapidly in recent years. Robot soccer 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 on multiagency, robot and other related fields, and it is helpful to theory's combining with practice.Robot soccer system includes four subsystem: visual, decision-making, communication and robot subsystem. Communication subsystem is a bridge for information transfer between decision-making subsystem and robot, and robot is the player in playground. Hence, whether robot is able to achieve the intention of decision-making subsystem or not depends on the capabilities of communication and robot. In this dissertation, on the background of MiroSot competition, treating centralized micro soccer robot as the object, we try to design an effective communication subsystem and an excellent robot player. The primary research is as follows:The requests to communication subsystem is analysed deeply, a design scheme of transmitter and receiver structure based on the core component nRF905 is put forward; in software design, a suitable communication protocol is established, the realization of software programe and flow charts are showd.In the light of the requirement to robot, robot mechatronic system is studied systemically. Based on enhancing the motility of robot, the design of wheels, the chices of motors and battery and analysed accordingly; then the structure of robot body is designed; finally, the control-subsystem of robot is discussed , the design structure based on DSP is provided, and the realization of software programe and flow charts are showd.Making use of special testing software that we developed by ourselves, the capabilities of system, including communication system and robot are carried out, and the result is presented; at the same time, the effect of design is demonstrate. |
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