基于嵌入式实时操作系统的类人足球机器人的设计  

Design of Humanoid Soccer Robot Based on Embeded Real-Time Operating System

作　　者：程南瑞[1] 刘国栋[1] 

机构地区：[1]江南大学通信与控制工程学院,江苏无锡214122

出　　处：《江南大学学报（自然科学版）》2008年第5期564-568,共5页Joural of Jiangnan University (Natural Science Edition)　

摘　　要：介绍了一种新型的基于μC/OS-II的RoboCup类人足球机器人控制系统的设计与实现.针对传统类人机器人在控制系统实时性和视觉识别方面的不足,提出了由数字信号处理器(DSP)和嵌入式处理器(ARM)的芯片组合,并以μC/OS-II作为软件平台.该控制方案结合了DSP的实时信号处理能力和ARM在系统控制方面的特性,既能合理地分配任务,又满足了系统的实时性要求.实践证明,由该控制系统的设计方案制作而成的类人足球机器人AFU,具有良好的自主控制稳定性和较好的视觉识别能力,能够比较出色地完成类人组的足球比赛.The paper presented a novel design and implementation of the control system of RoboCup humanoid soccer robot based on μC/OS-Ⅱ. A chip combination of the digital signal processor （DSP） and embedded processor （ARM） was presented to improve the real-time control performance and visual identifying capability of the traditional humanoid soccer robot. This design using μC/OS-Ⅱ as a software platform fully combined real-time signal processing capacity of the DSP and the advantage of ARM in the control system. It not only reasonably arranged tasks, but met the real-time requirements of the system as well. The practice has proved that the humanoid soccer robot AFU which was produced according to this design had good self-control stability and better visual recognition ability. What＇s more, AFU behaves excellently in the RoboCup soccer game.

关 键 词：类人足球机器人 嵌入式实时操作系统 嵌入式处理器 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]