The article presents the design and implementation of a low-level control system for a multi-agent system (MAS) intended for mobile robots participating in robotic soccer. The robot was developed in accordance with the specifications of the FIRA MiroSot category and currently serves as an educational platform for demonstrating multi-agent system concepts. The paper includes the complete design of a new printed circuit board, microcontroller programming using free RTOS, and the implementation of motor control algorithms with PID regulation. In addition, the article provides a comparison with the previous electronic design, with which the SjF TUKE Robotics team became the world champion in this category in 2010.
Science Journal 