The Design and Implementation of Soccer Robot for RoboCup Middle Sized League

This paper mainly illustrates the background and development of soccer robot for RoboCup Middle Sized League, and puts more emphasis on both hardware and software design for the soccer robot based on the microcontroller AT90CAN128. In the hardware design, the sensor module is implemented by high precision laser range finder and electric compass for robot self-localization; USB-CAN converter are designed in the communication module; based on the introduction of main chips in use and workflow of the system, the two most important actuator in the soccer robot are designed separately, including motor module and kicking module. According to the hardware above, the software design shows the working flow of each module, including the laser ranger finder and electric compass in the sensor module, the transition mechanism between USB protocol and CAN protocol and easy-to-use bootloader for AT90CAN128 debugging online. The test shows both hardware and software designs for the soccer robot work well.