F-180小型足球机器人通信网的设计实现

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1、AbstractRobotsoccerisachallenginghigh-techprojectthatiscomposedofcarmechanics，robotics，electromechanicatintegration，microcontroller,datafusion，precisioninstrumentation，realtimedigitalsignalprocessing，imageprocessingandrecognition，knowledgeprojcotsandexperts

2、ystemdecision，trackgeneration，self-organizationalstudy．multi-agentcoordinationandwirelesscommunicationtheory．Itisatypicalintelligentrobotsystemthatma，providealivelymodelforthestudyanddevelopmentofmulti-agentsystemaswellasthecooperationandcompetitionbetweenm

3、ulti-robotsystems．Nowadays．therearetwoorganizedrobotSOCCerasS0ciacionS_一FIRAandRoboCup．TheF-180small-sizerobotsoccersysteminwhichthiswirelessnetworkintroducedinthispaperwasusedisoneleagueintheRoboCupassociation．Thiskindofrobotsoccermatchiswidelyheldaroundth

4、eworld．ThehardwaredevicesoftheF·180small·sizesoccerrobotsysteminclude：robotcar,cameradevice，hostcomputerandwirelesstransmitter．Accordingtotheirfunction，thewholesystemcabbeseparatedintorobotcarsubsystem，visionsubsystem，wirelesscommunicationsubsystemanddecisi

5、onsubsystem，inwhichthewirelesscommunicationsystemisaindispensablepartthatconnectthehostcomputertotherobotcarsoastoinsurethefluentprogressofthematch，Becausethereareseveralrobotsrunningonthecourtatthesa．metime，thewirelesscommunicationsystemmusthavetheabilityt

6、oanti-jamming．Thecapabilityofthewirelesscommunicationsystemmaydeterminetherobots’performancetoacertainextent．Inthispaper,thereisadeeplystudyofthecommunicationsubsystemofF-180small’sizerobotsoccersystem．Thepresentcommunicationsubsystemsareallsingledirectionb

7、roadcastingsystemthatcarlnotmeettherequirementoftheself-decisionrobotsoccersystem．So，thereisadesignandimplementationofakindofwirelessnetworkinthispaper，whichconsistoftheprotocoldesign，hardwareandsoftwareimplementation．Thelastpartofthispapergivesoutthetheore

8、ticalandexperimentalparameterofthiswirelessnetwork’sperformance．Thefollowingisthemajortasksthatarecompletedinthispaper：1．Selectthetopologystructureofthisnetworkandmakeuppropercommunicationprotoc01．Ther