The Design And Implementation Of Soccer Robot For RoboCup Middle Size League

This thesis mainly illustrates the background and development of soccer robot for RoboCup Middle Size League, and puts more emphasis on both hardware and software design for the soccer robot based on the microcontroller AT90CAN128. In the hardware design, the sensor module is implemented by high precision laser range finder and electric compass for robot self-localization; CAN communication module and USB-CAN converter are both designed in the communication module; based on the introduction of main chips in use and workflow of the system, the two most important actuator in the soccer robot are designed separately, including motor module and kicking module. Furthermore, the motor driver circuit and kicking control circuit are both given in details with explainations. According to the hardware above, the software design shows the working flow of each module, including the laser ranger finder and electric compass in the sensor module, the transition mechanism between USB protocol and CAN protocol, the motor bottom control and easy-to-use boot loader for AT90CAN128 debugging online.In the last part this thesis concentrates on the classical path planning algorithm in the robotic research. With the brief introduction of artificial potential energy algorithm, it proposes multiple robot swarm control algorithm considering some common situation in the RoboCup competition. Finally the simulations show the new algorithm could efficiently solve the common problem in the competition, flexibly control multi robots and successfully make path plannings for multi robots..The test shows both hardware and software design for the soccer robot can satisfy the need of RoboCup competition. Therefore, the robot is prepared for attending the 2012 Mexican RoboCup.