Design And Implementation Of A Small Size Robot Soccer

Robot soccer, referring to multi-domain and multi-disciplinary, is a typical intelligent robot system, and is a lively research model for research and development of the cooperation and confrontation between multi-agent system and multi-robots. And it is a window for display the forefront of automated information. It provides a approach for coalescent of industry, academia and research. So far, it has been focused by many research institutes and colleges, more and more researchers and scholars pay attention to it.Underlying system is the operative part of the robot soccer system, the performanceof whitch directly affects the performance of the entire robot soccer system. The framework of robot soccer body movement and kick/dribble ball are designed and analyzed. The Kinematics model of robot is explained. In order to improve the control performance of the underlying system, FuzzyPI control method is adopted. The simulation is done based on dSPACE.The hardware and software design of the robot are studied in systematic style in this paper. First, the hardware design is introduced. A new blue print for the design of robot underlying system is provided based on DSP & CPLD. DSP is the core and the policy maker, whith takes charge the receiving command and implementing the command. CPLD helps DSP to carry out the function of BLDC motor driving and speed detecting. The robot's microcontroller, brushless DC motor-driven, goal-driven motor, electromagnet-driven institutions play ball testing, acceleration detection, detection circuit and the gyroscope unit, and other communications are introduced. Secondly, how the software carried out? A special communication protocol is designed, and the command operation process is briefly introduced. We used the FuzzyPI control strategy successfully after predigesting the arithmetic in our robot system. Through the flow charts, the architecture of DSP programs are introduced, including interruption, such as UART communication, capture of velocity, and ADC, etc. Also the anti-jamming methods that used in the system design are expounded. Finally, combining the practical problems encountered in the tests, a summary and outlook has been done, and the needs to improve and consummate are pointed out.