| 一种RoboCup足球机器人动态角色分配机制的实现 |
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| 引用本文： | 程硕远,陈万米,桂春胜,陈海波,刘军江,林侃.一种RoboCup足球机器人动态角色分配机制的实现[J].微机发展,2011(10):10-13,18. |
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| 作者姓名： | 程硕远 陈万米 桂春胜 陈海波 刘军江 林侃 |
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| 作者单位： | [1]上海大学机电工程与自动化学院,上海200072 [2]上海市电站自动化技术重点实验室,上海200072 |
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| 基金项目： | 机器人技术与系统国家重点实验室开放基金（SKLS-2009-MS-10） |
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| 摘 要： | 自主足球机器人动态角色分配是RoboCup足球机器人研究领域内的一个重要课题。为了弥补以往足球机器人角色分配的不足，文中主要研究一种RoboCup足球机器人动态角色分配机制的实现。总结了现有RoboCup中型足球机器人角色分配机制，通过对策略设计的层次划分，利用机器人之间通讯的数据，实时更新并同步各个机器人的状态，采用排名制、优先级抢占式等多种方法实现动态自主的角色分配。通过实验以及比赛中的实战检验，验证了该角色分配机制的有效性。
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| 关 键 词： | 角色分配 排名制 抢占式 |
Implementation of Dynamic Role Assigmnent Mechanism in RoboCup Middle Size League Competition |
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| CHENG Shuo-yuan,CHEN Wan-mi,GUI Chun-sheng,CHEN Hai-bo,LIU Jun-jiang,LIN Kan.Implementation of Dynamic Role Assigmnent Mechanism in RoboCup Middle Size League Competition[J].Microcomputer Development,2011(10):10-13,18. |
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| Authors: | CHENG Shuo-yuan CHEN Wan-mi GUI Chun-sheng CHEN Hai-bo LIU Jun-jiang LIN Kan |
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| Affiliation: | 1. Department of Automation, Shanghai University, Shanghai 200072, China; 2. Shanghai Key Laboratory of Power Station Automation Technology, Shanghai 200072, China ) |
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| Abstract: | Dynamic role assignment of autonomous soccer robot is an important research focus among RoboCup Leagues. To make up for the lack of approaches popular in the past, described the implementation of a autonomous role assignment mechanism based on analysis of current role assignment mechanisms. After leveling of decision design, the mechanism makes full use of communication data between robots, updates and synchronizes the state of teammates, and achieves role assignment in adoption of ranking system and preemptive priority system. The performance of the mechanism has been verified in both laboratory test and real game. |
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| Keywords: | role assignment ranking system preemptive priority |
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