Research On Planning And Design Of Control System For Mobile Robot

Soccer robot refers to computer,artificial intelligent,machine vision,signal processing, wireless communication,robotics and many other subjects etc.It is not only a research hotspot in the field of artificial intelligent and robot,but also a very challenging high-tech project.At present,two aspects of difficulties emerge from the developing soccer robot: one is in the research of sensor and control,and the other one exists in decision-making,planning and inference.This paper chooses RoboCup small-size soccer robot as the object of the study and conducts an in-depth study on the design of the robot control system and path planning.Study work of this paper includes the following parts:At first,the paper introduces the system components of the RoboCup small-size robot competition and system structure of the omni-directional mobile robot which has been widely used in robot soccer competition recently,then deduces the kinematics function and dynamic function of the robot in the world coordinate system and the robot coordinate system,find relations between the robot control quantity and the condition quantity,correspondingly proposes the system function of the robot.Furthermore,the effectiveness of the model using detailed parameter of real robot can be testified by MATLAB simulationThen the paper puts an emphases on the study of the control system of RoboCup small-size robot soccer game.By referring to the papers on the design of the small size soccer robot and analyzing the developing trend,DSP TMS320F2812 was chosen as main controller and used as the core in the drive board and the main-control board of the robot which was designed.The electrical circuit design of the robot motion,kick and dribble was located in drive-board.And the design of the peripheral interface and the communication interface was located in main-control board.And what's more,the programming design and the performance test of every part was accomplished.At last,the paper conducts an in-depth research on the path planning of soccer robot.Taking the venue of RoboCup small-size league competition as model,environment modeling was carried with the Grid Model,and combined with the Ant Colony Algorithm to carry on the path search,as a result,a non-collision optimized path can be found within shorter time.It is demonstrated by research simulation that the new method which builds an environment model with Grid Model and carries out the path search with Ant Colony Algorithm can make the soccer robot get to the target faster.