Soccer Robot Decision-making System Development And Applications

The study on soccer robot system has been developed very fast in recent years. Soccer robot system refers to many fields, such as robots, image processing, automatic control, communication, sensor and AI, etc. Now it is an important experiment platform for studying multi-agent cooperation and Artificial Intelligence application technology.This paper introduces the history and the development of robot soccer competition. And it also discusses the four subsystems that compose the soccer robot system. The key point of this paper is on the decision-making subsystem.On studying the Mirosot's decision-making subsystem of centralized control mode, this paper gives a multi-level's structure for it, which is composed of a cooperation layer, a motion programming layer and a basic action layer. In basic action layer's designing, it uses a Fuzzy-PID control algorithm that brings the system with a good dynamic and static performance. In the whole decision-making process, the protean situation on the competition ground is expressed by an artificial intelligence method for describing the state space that is constituted by selecting a small number of discrete representative states. Desired actions are set for every robot based on the tasks of the system and the strategy. Finally the decision-making subsystem gives the output velocity of both wheels of the robot, and the real-time control is realized.On studying the RoboCup's decision-making subsystem of distributed control mode, it discusses the environment of the simulator match, the architecture of SoccerServer and its work mechanism in details, which is very significant to theory research, including the important parameters of SoccerServer, communication between SoccerServer and clients, visual-audio and physical information of agents, etc. Then it uses a client program to demonstrate the process of communication and how the sending command worked. Finally it gives the detailed algorithm of the decision-making subsystem.This paper also introduces a method of designing a simulation system for soccer robots, which using object-oriented and visualized programming technology. The "Soccer" simulation system includes the real world simulation, interface and graphical design, etc. It can be worked as a simulation flat to practice the strategy and demonstrate vividly the competitive scene. It also proves the performance of decision algorithm is good and the decision-making subsystem can be applied.