The Study Of Robot Soccer System Based On C/S Model For The MiroSot Large League

Robot Soccer is a foundation for the application of robots with artificial intelligence research, which is an integration of the latest research results of various branches. Taking robot soccer system for Large League as the project, with describing the principles of Mirosot robot soccer and expositing the characteristics and the difficult of large league in details, this paper proposes the Client/Server mode structure to realize the robot soccer system for Large League of MiroSot. Based on the idea of parallel processing, the function modules of robot soccer system - the vision subsystem and decision-making subsystem could be decomposed rationally in C/S system architecture. Then, using two computers or multi-processor computer can achieve the purpose of improving the system efficiency, which working in parallel way.This paper describes the construction of robot soccer system for MiroSot large league and the realization of various its parts in base of the Client/Server model. In this framework, the client PC completes the visual function, And the server PC achieve the decision-making function and send commands to each robot. Using multithreading technique including kernel synchronization system and windows message mapping and network programming based on the Socket achieve the dual cameras capturing construction and communications between the client and server. Then, this paper proposes the data managing way of multi-buffer so as to transfer data correctly between two PCs and to make the system real-time.Constructing a data structure named marking data pool provides the memory for the decision-making subsystem and improving the degree of intelligence of the whole system. Then in base of the structure, the decision-making subsystem develops its architecture while the offensive strategy based on the idea of balance between the offense and defense and the dynamic defensive strategy are designed and set for the large league of MiroSot.Meanwhile, this paper has a detailed instruction of new robot of "e" Dragon team, which is designed to meet the needs of large playground.Repeated experiments, as well as numerous international and domestic events show that the robot soccer system based on the C/S model for MiroSot large league proposed in this paper is in compliance with the demand of stability and real-time.