Control System Bottom Design And Decision-making Research Of Humanoid Soccer Robot

Humanoid robot is an important branch of the robot research field, on behalf of the advanced technology of the robot, being the highest realm on the robot research.Humanoid robot soccer competitions are a kind of high-tech confrontational activities,its emergence goes along with the rapid development of humanoid robot technology and distributed artificial intelligence.Participating in the games Actively will play a important role in promoting the development of China's humanoid robot.Control system is the core part of the robot.Humanoid soccer robot have many joints and complex control circuit.To control system,the competitions have higher requirements on its stability,real-time,coordination,power consumption,size and so on.Therefore,a reasonable control structure and optimized control circuit will be the guarantee for the robot's good performance in the games.In terms of hardware, firstly,on the basis of the function needs and rule requirements of the current Robocup robot soccer competition to the humanoid robot,we designed a set of control system for our lab's humanoid robot body.The control system used a master-slave architecture. XScale PXA270 was chosen as the motherboard processor,and tasks such as real-time visual information processing,wireless communications,decision-making and mission planning needed the motherboard to complete.The slave board selected ATmega16L as the processor, mainly completing angle sensor information collection and conversion,servo motor controlling tasks. Between motherboard and slave board,we used I2C bus communicating.Then ,we completed the specific circuit design work of control system.In order to meet the robot control system size and power consumption requirements,those devices and components that are cost-effective, easy to buy, high integration level,low energy consumption were selected.In terms of software, embedded operating system is an important part in robot control system.Embedded Linux is a better choice for the robot operating system.Using version 2.6.9 kernel, the preemptive memory can make the robot rapidly response to a variety of emergencies in the games.After completing BootLoader programming,Linux core and file document of root transplanting,we had started and run the embedded Linux successfully. Finally,all functional modules of motherboard were tested simply.In decision-making aspect, all intelligent activities of robot on the court are based on its decision-making system. First,the decision-making system of robot competition was constructed on the control system hardware platform.Then,the decision-making system was designed hierarchically.finally,using the FSM theory,we designed and realized robot's offensive and defensive stategy. Experimental in the real environment and competition results had proved the effectiveness of the decision-making method.