| 足球机器人决策系统的设计与实现 |
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| 引用本文： | 陆永忠,柯文德. 足球机器人决策系统的设计与实现[J]. 计算机仿真, 2007, 24(9): 129-132,140 |
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| 作者姓名： | 陆永忠 柯文德 |
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| 作者单位： | 华中科技大学软件学院,湖北,武汉,430074;华中科技大学软件学院,湖北,武汉,430074 |
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| 摘 要： | 为了改进由协调层、运动规划层和基本动作层组成的足球机器人决策系统,提出了将基于Bezier曲线的机器人路径选择法、"以小球为中心,守门员为主要执行对象"的防守策略和场地分区法综合地运用到三层递进的决策系统中,并分别给出了每层的实现算法.在此基础之上,建立了机器人和球的动态模型,利用C 编程并导入Middle League SimuroSot(5vs5)仿真环境进行了仿真实验.仿真实验结果表明:所提改进的决策系统具有可行性和有效性,较好地解决了进攻和防守的问题.
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| 关 键 词： | 多智能体 足球机器人 路径规划 仿真策略 国际机器人足球联合会 |
| 文章编号： | 1006-9348（2007）09-0129-04 |
| 修稿时间： | 2006-07-252006-08-13 |
Design and Implementation of Decision System for Soccer Robot |
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| LU Yong-zhong,KE Wen-de. Design and Implementation of Decision System for Soccer Robot[J]. Computer Simulation, 2007, 24(9): 129-132,140 |
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| Authors: | LU Yong-zhong KE Wen-de |
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| Abstract: | In order to improve the performance of decision system for football robot,an approach with the combination of the path-planning based on Bezier curve,defending decision "regarding the ball as epicenter and goalie as the main executive" and area separation is presented in three-layer incremental decision system.Then implementation algorithm of each layer is given respectively.Based on it,dynamic models for robot and ball are established.The programs are developed by C and put in the simulation platform called Middle League SimuroSot(5vs5) for simulation testing.The results indicate that above-mentioned decision system is feasible and valid,furthermore solves the problems of attack and guard better. |
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| Keywords: | Multi - agent Robot soccer Path planning Simulation strategy Federation of international robot soccer association |
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