Research On Communication Subsystem Of F180 Soccer Robot

With the rapid development of science,more and more advanced technology has been applied to the soccer robot match, wireless communication is one kind,which is the indispensable part of the soccer robot games system,also is a information transmission link between the main computer and robots. The capability of communication is not only the key to the robot can quickly and accurately carry out various action,but also is the decisive factor of the match to succeed. This paper will make the F180 soccer robot as the research object, deeply analyze and research the existing soccer robot system,focus on the design problems of the wireless communication subsystem, so a set of good performance wireless communication subsystem has been designed. Three aspects are included in this paper:Firstly, briefly introduced the game environment and various rules of F180 robot soccer, and analyzed the basic structure constitution of robot soccer games and the working principle of each part, at the same time, the various key issues involved in the system are summarized.Secondly, according to the design requirements of wireless communication system for small soccer robot,the article chooses the third generation of HP3 RF modules,which produced by the Linx technology company, and respectively designs the transmitter and receiver as well as gives the hardware circuit designing diagram. Based on the analysis of kinematics model of the robot car, the relationship of velocity between the robot and the wheel has been foud,then the communication protocol has designed, and the flow chart with software designing as well as part of program code have given.Lastly, this paper also analyzes the interference and noise in wireless communi-cation system when the game begins, and proposes improved methods from two aspects of hardware and software.In 2008 RoboCup small soccer robot match, our team achieved good results by this system, which proved the feasibility of this design.