The Research And Design Of Soccer Robot Control System

Soccer robot system integration of robotics, sensors information fusion technology,machine vision, intelligent control, artificial intelligence, mechanical and electrical integrationof technology. It provides a good experiment and test platform for the study on relevant areasof cutting-edge scientific theory. Many scientific research personnel and engineering andtechnical personnel are favor in it. At present, the research on soccer robot has become a hotspot.Soccer robot control system is the core of the whole control system, it needs to haveabilities of information processing, analysis, logical reasoning and decision-making. Thispaper take the robot soccer competition as study background, studied several key technologiesof the robot control system, designed relevant information processing and control algorithm,and realized the control of soccer robot system by using control software based on VClanguage. The main work includes the following points:Firstly, the robot vision processing system was analysised and researched in depth.Inresponse to the problem that the illumination change can influence the identification result, animage signal analysis method based on dynamic threshold and background difference are putforward. This paper introduced analysis algorithm in detail, and completed the entire soccerrobot vision processing subsystem on this basis.Secondly, the soccer robot decision-making subsystem was analysised and researched indepth. Improved the robot motion coherence by added a strategy knowledge library totraditional mode of three layers. Put forward an improved algorithm of path planning byimproved traditional artificial potential field method. This paper elaborated on the designmethods of basic action layer, movement planning layer, coordination layer and strategyknowledge library in details based on the introduction of soccer robot system andenvironment modeling.Thirdly, taken the MiroSot(3:3) soccer robot system of School Innovation Base ashardware platform, achieved the MiroSot(3:3)control system by control software written byVC language, verified the algorithm is correct.