Research And Implementation Of Soccor Robot Motion Control System

Robot Soccer game is a high-tech oppositional activity which develops rapidly in recent years. It is the combination of the popular soccer game and hi-tech. Robot soccer including many research fields such as robotics, intelligent control, wireless communication, image processing, mechanics, and so on. We designed the omni-directional motion chassis, motion control system and wireless communication system, and researched in the fault detection algorithm of the robot.Main work of the dissertation is as follows:We researched on the hardware platform of soccer robots, designed and implemented the omni-directional motion chassis, kicker and ball roller. To satisfy the real time demand, we adopted the most popular omni-directional vision system and omni-directional motion chassis, which is composed of three omni-directional wheels which are each driven by a DC servo motor. It satisfies the intact motion constraint, makes the robot capable of moving more freely and accurately to the destination, in the expected position and orientation than the differential driven robot. We used the high-voltage electromagnetic valve to drive the kicker to kick the ball off. Kicker can be reposited by the spring connected to it. We used two DC motors controlled by the infrared sensor and two side boards for the ball roller, making it to keep the ball more firmly.Using layered control structure, a laptop as the upper layer, two DSP chips which communicate through CAN BUS as the lower layer, to control the DC servo motor and kicker. We maintained a finite-state automaton, using the image information from the vision system and the speed returned by DSP as the input. It gives the next action, calculates the next expected speed through the speed plan module and sends it to DSP. We adopted the PID algorithm in the closed control circle to control the speed of the motor to improve the motion precision. We designed and implemented the Coach program, which runs in a laptop outside the field. It transfers the commands received from the Referee Box to the robots on its side, through the wireless network.Design and implement of the automatic fault detection system, which makes the robot capable of "feeling" its situation. This information can be used by the decision-making system. We discussed the content covered in the Middle-sized soccer robot state estimation field, researched the methods used in motion chassis's state estimation, and proposed an algorithm used image information and threshold classifier for kicker's state estimation.We built up our own soccer robot team for the RoboCup Middle-Sized League competition. We participated in RoboCup China Open 2005 and 2007, and got the Third Award each.