机器人足球系统的建模与策略研究

【作者】 吕明；

【导师】 李孝安；

【作者基本信息】 西北工业大学 ， 计算机软件与理论， 2004， 硕士

【摘要】 近几年，国际上对足球机器人的研究以及相应的各种比赛取得了迅速的发展。无疑足球机器人是一个新兴的交叉学科，涉及机器人学、人工智能以及人工生命、智能控制等多个领域。足球机器人系统本身既是一个典型的多智能体系统，是一个多机器人协作自治系统，同时又为它们的理论研究和模型测试提供一个标准的实验平台。 在存在对手的动态环境中，足球机器人要通过相互配合协作，表现出团队行为或完成特定目标。环境的动态性及对手不可的干扰，对于系统实时决策和机器人运动控制有着更高的要求。 首先，本文针对足球机器人问题域特点，提出了基于团队(Teamwork)的协作框架，对目标任务进行分层分解，实现团队协作。(该框架包括：队形、角色和动作，将共享任务的协作形式转化为任务分解和任务分配两个子问题；由特定队形的角色完成任务分解，由特定角色的动作选择完成任务分配。应用包含特定角色集的队形进行机器人间的相互协作配合。在此协作框架下进行决策推理和动作选择。最后体现在机器人所执行的动作上。) 在建立轮式足球机器人模型的基础上，对机器人进行运动控制，并提出一种参数优化方法。足球机器人的运动控制为其动作设计提供了基础，动作是决策的最终体现，是任务完成的保证。并进一步地，描述了足球机器人动作空间(分层动作体系)，并给出了机器人足球比赛中实用的几种运动方法，设计开发了满足实战需要的动作函数。 对于一个机器人来说，在给定环境，选择适合的动作是非常重要的。对于多机器人比赛，提出了基于队形确定-固定角色-动作选择的决策推理模型，开发出相应的足球机器人决策软件，并应用于2003年的机器人足球比赛。更多还原

【Abstract】 In recent years, an increase has happened in research interests and several kinds of competitions in robot soccer. It is no doubt that the soccer robot is a new interdisciplinary research area, referring to diverse fields like, robotics, intelligent control, artificial life, etc. Soccer robot system is a typical multi-agent system and multi-robot cooperative autonomous system. Furthermore, it provides standard test-bed and theoretic research model of those fields.Robot soccer game involves multiple robots, which need to collaborate/cooperation in an adversarial environment to achieve specific objectives or show a teamwork behavior. In such an active and noise environment, how to realize the real-time strategies/decision-making and robot real-time motion control are challenge problems.According to characteristics of soccer robot problem domains, cooperation architecture based on teamwork has been provided, which can realize hierarchical task decomposition and show team behavior. The architecture comprises formations, roles and actions, which has capability to translate sharing-task cooperation to task decomposition and task allocation. The task decomposition problem has been resolved by defining flexible roles of specific formation. And the task allocation problem has been resolved by an action selection mechanism of specific roles. The cooperation of home robots has been achieved by switch of team formations and roles transformation. All the results of decision-making and action selections under this architecture are exhibited by executed action of robots.A hierarchical strategies software architecture of decision-making layer/task management layer/action executing layer has been given, and applied to soccer robot strategies system software’s design and development. This software had been used in FIRA robot soccer competition in 2003.更多还原