基于有限状态机的足球机器人行为设计与综合

介绍了一个面向动态环境作业的全自主移动机器人系统。该机器人系统集成了包括视觉、激光雷达、声纳环、里程仪在内的多传感器系统，双轮独立驱动的移动小车以及高速无线局域网，并通过车载控制系统进行实时决策。控制系统采用递阶的混合式结构，在上层利用基于有限状态机的行为选择方法实现行为规划，在低层采用基于行为的控制技术。通过对指定任务的分解，该方法实现了动态环境下多行为的协调，使机器人具有较高的决策智能，同时又保证了快速的反应能力。动态环境下的实验和比赛结果证明了该方法的有效性。

Behavior Design and Synthesis of Autonomous Soccer Robot Based on FSM

This paper introduces an autonomous mobile robot system applicable under dynamic environment. The robot contains a multi-sensor system, a differential-drive vehicle and a wireless LAN. The multi-sensor system consists of vision, laser range finder, sonar and odometer. A real-time on-board control system makes decision autonomously according to the perception from the multi-sensor system. The control system adopts a hierarchically hybrid architecture. On the high level, a FSM (finite state machine)-based behaviour selection method realizes behaviour planning; on the low level, a behaviour-based technique controls robot's actions. Through decomposition of specified tasks, the robot can coordinate multi-behaviour under dynamic environment and react rapidly. The results of experiments and games show the validity of the method.