The Research Of RoboCup Small Size Robot Control System

Robots' playing soccer games has been dramatically developed as a technical competition in recent years. It is a interdisciplinary field of different subjects, such as exact-mechanism, robotics, automated control, perceptron and integration, communication, computer vision and image processing, multi agent, reasoning and decision, machine learning, etc. It provides an ideal test platform for the study of robotics and artificial intelligence.A soccer robot system can be divided into five subsystems, known as vision subsystem, decision subsystem, communication subsystem, control subsystem and mechanical subsystem. With the RoboCup Small Size League as a research platform, the thesis focuses on the design and realization of a pull-duplex wireless communication system by USB2.0, and describes the design of robot onboard subsystem. The main researches of the paper are shown as below:First, the RoboCup soccer games are introduced briefly. The competition level and actuality of the soccer robot at home and abroad are discribed.Second, the software and hardware design and operation of wireless communication system are expatiated in detail. In this work, the full-duplex wireless communication is realized by using two chips of NRF2401. High speed real-time data transmission is achieved by USB2.0 port. Beside these, the protocol of wireless communication is drafted etc.Then, the hardware design of soccer robot platform is expatiated in this paper. The hardware contains multi-motor control, ball-dribbling circuit, ball-kicking circuit, ball-chiping circuit, wireless communication, IR detection etc. A soccer robot platform system using the DSP + FPGA has been designed according to the needs.In the end, the design of control software in the system is elaborated regarding practical demands. The main structure and the function module of control software are introduced in this part. Afterwards, the programming of each module, including initializing program of DSP, main control program, top layer program of FPGA and interface of DSP and FPGA, is presented. In order to improve the controlling properties of the system, anti -interference has been taken into account, and the performance test is presented.The system described in the thesis was integrated in the small-size robot soccer team of DUT Fantasia SmallSize which participated in RoboCup China Open 2007. And the team obtained the third place in the contest.