MSRS 5vs5- Based Research Of Simulation Robot Soccer Decision-making System

Robot soccer is a new research topic which is related to some fields of artificial intelligence, robotics and intelligent control. Because of the high environment requirements and the expensive equipment, the entity robot soccer tournament is not suitable for widely application. However, the robot soccer simulation tournament can be simply simulated by software, and the main technologies of the entity robot soccer tournament are also included .So the robot soccer simulation tournament has become an important branch of the research field of robot soccer. The soccer robots are conducted by strategy subsystem and the robot soccer tournament results are affected directly by the adaptability and superiority of the strategy subsystem. The research on the strategy subsystem of robot soccer simulation tournament is discussed in the paper.After analyze the typical decision-making system the defects that applied to robot soccer simulation tournament are pointed out. According to the characteristics and the shortage of typical decision-making system, the decision-making system architecture based on mapping structure is built .The paper adopted three layer strategy, which including organization layer, harmonization layer and administer layer. Organization layer is dominant ideology of decision-making subsystem, the conversion from state space to role space is mostly accomplished, three mainly part-situation analyzing, formation and role assignment are included in this layer. A effective way-PSO is gave in the part of role assignment, Harmonization layer connect organization layer with administer layer, the conversion from role space to action space is mostly accomplished, path-planning and dynamic anti-collision are included in this layer, which is used artificial potential field with virtual water-flow concept. Administer layer is the ground floor, all kinds of basic action are designed and two wheels are controlled in this layer. Some new technology actions are introduced and a celerity way of shoot is used in this strategy is proposed. In the end, comparing with the other strategy, some experiments in different arithmetic had been done and the results are noted.