In the small version of the RoboCup competition, some hardware designers utilize off-the-shelf controller such as: LM629 etc. to setup a PID control loop for each individual motor on the wheel. The drawback of such approach is the unbalanced synchronization of the controllers because the programmer has to send a series of command bytes to each controller individually one by one. This creates a time lag of at approximately 12+ µS for each controller setup. The time lag for such controllers varies depending on the number of controllers involved with the move. For a typical 4-wheels robot, such the time lag can vary up to 3 setup times lag (36+ µS) between the setup of the 1 st to the setup of the 4 th motor. The purpose of this paper is to use the proposed field programmable gate array (FPGA) implementation to eliminate such problem.

The autonomous mobile robot has some limitations for movement in ragged terrain. In some situations, it cannot move through the required target trajectories because of inappropriate type of driving system. To reduce this limitation, a new inventive concept of mechanism is presented in this paper. The mechanism is designed in a triangular shaped tracking wheel in which the inner construction can be manipulated depending on that particular terrain, thus this type of wheel is likely to move through all terrain. Four ball screws, which is the most important mechanism of the robot. This mechanism is extruded and contracted in order to make tight tracking belt at the time of robot climbing up and down on stair. In tracking wheel system, total 12 DC motors are used, out of which 6 DC motors are used for angular adjustment, 4 DC motors are used for the extrusion as well as contraction and the last 2 DC motors are used for driving the tracking wheels. Each DC motor is controlled by a microcontroller (Atmel AT89C2051) and a personal computer is used for interaction with graphical user interfaces that allows communication with all the microcontrollers via serial communication RS-485.

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The development of embedded technology has rapidly captured the attention of the sensor manufactures around the world, various sensing devices are being developed with embedded controller which simplify the concept of old style integration into the data communication between controllers. The main controller sends command and retrieves data/status from the slave controllers and acts accordingly, as the result, the software development cycle has decreased drastically. The paper is an example of an effort to implement distributed control concept into a small-sized RoboCup which in turn simplify the design and allow the designer to easily add more features to the robot.