Based On The Embedded System Of Soccer Robot Car Controller Design And Research

In the past few years, Robot Soccer has been one of the heat topics of intelligent artificial control and intelligent control area. As researches developing, more and more people get to know the importance of the controller to the whole Robot. This paper, based on MiroSot Robot, gives a deep research to the controller of the Robot.Robot soccer is the execution part of the robot soccer system, its performance is significant to the system. The controller determines the precision, agility and the stability of the robot. Therefore, this paper brought forward a design project of robot soccer controller based on embedded system to solve the shortcomings, such as low precision and low intelligence of existing systems. The hardware of the controller includes ARM embedded chip S3C2410 used as main CPU, two HY29LV160 chips which builded the Flash memory system and two HY57V641620 chips that was constituted the design of SDRAM memory system. CPLD equipment performances direction identification, multiple frequencies and counting, which improves the control precision, as a result, the embedded CPU can be mainly used to control the motion of the robot, and complex algorithm can be applied. In the design of software, Linux is employed as OS because its kernel is simple, high performance, revisable and transplantable, in our system, the kernel was cut out and compiled, and the BootLoader was designed. Adaptive fuzzy PID was brought forward in order to settle the robot motion which characteristics is time-variable nonlinear, strong disturbing and uncertain. The emulator experiment proved the validity of the algorithm. Anti-jamming techniques are used according to high speed board design principles. the system is debugged as units based on JTAG.The platform was given for the actualized of the multi-agent cooperation and it will also make the Robot Soccer closer to the human match.