Velocity measurement system of small size soccer robot in Robocup

LI Mingxiong, ZHAO Xiao, LI Xiaoming
（Faculty of Mechanical Engineering & Automation, Zhejiang SciTech University, Hangzhou 310018, China)

Abstract: In order to realize the realtime velocity measurement for small size soccer robot, a velocity measurement system based on optical encoder and field programmable gate array(FPGA) was designed. FPGA was selected as the control chip and design technique of system on a programmable chip(SOPC) was used by embedding NIOS II processor. Each function module was designed due to the hardware programmable property of FPGA. Morever, M method with highaccuracy and highrealtime was adopted to measure the speed . Each robot soccers four driven motor can be realtime measured. And as a result of the connection of FPGA and NIOS II in the robot soccer, the system was simplified and it was convenient to modify and simulate the hardware or upgrade the system. And also this velocity measurement was simulated by Quartus II Simulator. The simulation results verify the feasibility of the system.
Key words: soccer robot; field programmable gate array(FPGA); M method; optical encoder; velocity measurement