Based On Dsp For Soccer Robot Design And Development

Robot soccer, referring to the fields of robotics; artificial intelligence; computer technology; motor control wireless communication-, image processing-, artificial life and so on, is a good test bed for multi-agent system and artificial intelligence theory. Internationally, more and more researchers pay attention to it.Basically, the whole system consists of four subsystems: robots-, vision-, decision-making and communication subsystem. Our robot system is a vision-based one, which controls or manipulates the robots by processing information, which includes robots and ball's posture from vision system. A host computer sends command to robots by communication subsystem. The command can control robots to accomplish a serial of actions such as shoot and block. The robot players receive the left and right speed commands from decision-making system and accomplish speed loop control for left and right motors.This paper investigates the design and development of vision-based soccer robot on hardware and software. Firstly, it introduces the composition and system structure of soccer robot system. Secondly, it presents in detail hardware design of controller of robot, including CPU, motor and motor driving, speed checking, communication part, power. Researching the domestic and external development status of robot, we forward a hardware structure basing on DSP and Complex Programmable Logic Device (CPLD).CPLD is used to accomplish the direction decoding, four frequency multiplication and counting for two quadrature encoder pulse. So the DSP mainly controls the speed of two motors, so as to realize complex control algorithm and bring the DSP into play full. Experiment proves that this structure can make the robot more real-time, nimble and robust. Software structure of DSP and CPLD, communication protocol and control algorithm are illuminated in software part. Lastly, combined the development of new technology and the characteristic of robot system, some improving methods are presented on the communication subsystem based on USB, vision subsystem realized by hardware and robot system based on RTOS.We designed the robots by ourselves, experiment and match proved that our design is very successful.