| The robot soccer has come to be one of researching focuses in the fields of artificial intelligence and of intelligent control in recent years. In order for a robot to play a soccer game reasonably well, many technologies to be integrated and Lots of technical breakthroughs must be accomplished, developed techniques are necessary and, at the same time, many new ones shall be achieved for the goal in which the robot, which is an entity or that robot that is simulated by software, can join and play the football game easily. The techniques concerned above have completely covered all the fields of robot research, including Robotics, machine-electicity, Multi-intelligence cooperation, decision and countermeasure, artificial Life and sensor data fusion, image processing, etc. Just because the advanced techniques make soccer robot to be the researching topic on the application basis, many national or international researchers have devoted to this great scientific project, and they have also achieved some achievements The competition of robot soccer, one mini advanced platform, definitely reflects these goals.MiroSot of robot soccer system consists of four components vision subsystem, expert decision subsystem, wireless communication subsystem and robot. In order for conquer opponent in soccer robot game , each parts of soccer robot system must be excellent capability and cooperative work reliably. The victory in the robot soccer is based on the excellent capability and cooperation between parts of the robot system. But this dissertation only emphasize our researches on some relative technologies in decision, wireless communication and robot, from which we have succeeded in accomplishing the all debugging-and-running works in the system. The main contents and related original achievements are as follows:Firstly, this dissertation analyses decision-making character of robotsoccer system in combination to the hardware structure of the system, has brings up concentrated decision-making, structure of the system, which include formation, role and action, describes formation by one dimension array, builds up rules of order choice , stresses on roles assignment , puts forward theory of roles assignment based on utility function, builds up utility function of roles is to offer academic basis of roles assignment.Secondly, this dissertation analyses the action characters of soccer robot, designs kinds of actions in allusion to switchover of attack and defend, puts forward theory of action selection and rules of action selection in order to realize part cooperation which combines court subarea and switchover of attack and defend when soccer robot is under special stateThirdly, after considering the characters of obstacles in the robot soccer,we have founded the collision module, To the current questions of obstacle-escaping arithmetic,we put forward the new obstacle-escaping strategy based on the speed vector information which is able to dope out the potential obstacles in the moving path and count out the suitable velocity to escape obstacles by the aid of the geometry transform of obstacle velocity vector The grid implementation arithmetic of path-searching tree is set forth for the convenience The result of simulating competition showed that this way is suitable to the mobile obstacle escaping.Fourthly, we have analyzed the yawp and interference happened in the wireless communication subsystem, illustrated the corresponding way to restrain them, and logically designed the software and hardware in the wireless communication subsystem. The experiment showed that this subsystem is more reliant, precise and capable of anti interference. Fifthly, after analyzing the wheel structure and building up the kinematics model of robot, we brought forth the selecting way and steps for the electromotor and battery. Regarding to the technique requirement of robot,the robot shell is designed to be one whole, and the groove used to control the ball is also schemed out to improve the ability of control and of a...
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