Mirosot足球机器人小车控制器设计与开发  

Design and Development of the Mirosot Robot Controller

作　　者：曹卫华[1] 吴敏[1] 桂卫华[1] 

机构地区：[1]中南大学信息科学与工程学院,湖南长沙410083

出　　处：《哈尔滨工业大学学报》2004年第7期864-866,共3页Journal of Harbin Institute of Technology

基　　金：国家高技术研究发展计划资助项目(2001AA4422200).

摘　　要：介绍机器人小车控制器的设计与开发,提出一种基于数字信号处理(DSP)和复杂可编程逻辑器件(CPLD)的硬件基本框架,CPLD器件完成两路正交脉冲的鉴相、四倍频和计数的方案.实验和比赛证明,这种结构可以大大提高机器人小车的控制精度、灵活性和鲁棒性.This paper deals with the design and development of the vision-based Mirosot robot controller; a hardware structure based on digital signal processing (DSP) and complex programmable logic device (CPLD) is introduced in the controller. CPLD is used to accomplish the direction decoding, four-frequency multiplication and counting for two-quadrature encoder pulse. The experiment and match proved that the structure could make the robot have more real-time, nimbleness and robustness.

关 键 词：足球机器人 DSP CPLD 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]