An Approach To The Emergent Collision Avoidance Of RoboCup F-180 Soccer Robot

RoboCup F-180 soccer robot studies how to control multi-agent and shows a teamwork behavior in a dynamic environment. Robot moves in the environment with the static and moving objects, collision avoidance is an important point. RoboCup F-180 soccer robot moves according to the commands of subsystem to planning, with receiving and carrying out 30 frames program every second. Being vision-based the Robocup F-180 soccer robot that is moving toward target according to instruction must have a collision, if obstacles are abrupt coming in front of it. In order to solve this problem, a deep research was executed on the RoboCup F-180 soccer robot. After finding out a lot of inferences, theory designs are contacted closely with experiments. The paper presents an approach that may avoid considerably the emergent collision. The work includes the selection of sensors, the calculation of the number, the determination of the position, and the design of the control system, etc. PLL can follow the tracks of frequency to transmit without error. The robot can distinguish the signal emitted by itself from the signal emitted by the opposite team. It can also differentiate the detected object to be the ball or other obstacles. Infrared of sensor system can resist interfere of infrared to sunlight or electric lamp and can easily come into being. To save power supply and relieve battery weight, pulse driving is used in system and derivative circuit is used to decrease high pulse width. Experiments show that the proposed method is efficient.