Design And Research On Action Strategy Of Soccer Robot

Nowadays, research of Multi-Agent System (MAS) has been the hot point of international robot field, and soccer robot system is just a typical Multi-Agent System that can be represented concretely as multiple agents moving in a complicate, real-time and noisy surroundings full of antagonism and accomplishing a common task/mission through collaboration/cooperation. It is no doubt that the soccer robot is a new interdisciplinary research area, referring to diverse fields like robotics, artificial intelli- gence,intelligent control, computer vision,sensor and data fusion,wireless communic- ation, etc. Furthermore, it provides a standard test-bed and theoretic research model of those fields.Aiming at our"TSR-1"micro soccer robot, this dissertation makes a profound and systemic research on its action strategy and develops some new ideas and meth- ods on the basis of my generally knowing its origin and development, well understa- nding its domestic and overseas status quo of research and fully comprehending its strategy subsystem.1. Behavior based action framework design of micro soccer robot The disse- rtation applying object oriented method (OOM) to translate abstractly the process of man,s playing football develops an idea of action strategy design based on behavior that some pivotal actions of soccer robot is looked as basic behavior to plan. Actions of micro soccer robot can be divided into four categories: basic actions, technical actions, tactical actions and mixing actions that structure a layer-pyramided configuration. Low-layered actions underlie the implementation of high-layered actions. For multiple soccer robots, such design can make contribution to accomplishing the task of competition in a dynamic, real-time and unknown environment.2. A new shooting method based on zone and tangential arc for micro soccer robot Shooting action is designed in order to improve the rapidity and the success rate of shooting. Based on the deep analysis of previous shooting algorithms, an improved shooting method is proposed in this dissertation that introduces the concept of angle bisector and shooting area and plans the shooting trajectory of soccer robot rationally. The shooting approach also eliminates the oscillation of robot induced by adjusting original angle and comes true a smooth transition from beeline to curve. Further, the motion characteristics and position of goalkeeper is also take into account for shooter...