基于视觉的足球机器人小车系统的设计与实现

The Design and Implementation of a Cart Subsystem for Vision-Based Soccer Robot

足球机器人是人工智能与机器人技术发展至一定程度的产物,它为基于分布式人工智能理论的多智能体系统协作问题提供了研究平台。足球机器人系统可分为四大模块:小车子系统、通讯子系统、决策子系统与视觉子系统。文章在简要介绍机器人足球系统架构的基础上,针对其执行机构——小车子系统——提出了实现方案。采用锁相环技术实现高精度电机调速,并结合蓝牙通讯技术,使小车达到系统的理想要求。

Soccer robot provides a platform for research of the cooperation of MultiAgent System (MAS) based on distributed artificial intelligence (AI) theory. A soccer robot system consists of four modules: cart subsystem, communication system, decision subsystem and vision subsystem. Based on a brief introduction to the structure of the robot soccer system, the cart subsystem is discussed in detail. The PLL technique is used to realize the precision DC motor timing. By employing bluetooth communication technique, the cart subsystem can meet the demand of the system perfectly.