| Soccer robot is a typical crossed research with multi-subjects,which has been a hot researching subject and widely concemed by many scholars from corresponding areas such as artificial intelligence,robot and control science in recent years.Soccer robot system does research on how to organize,harmonize,collaborate,contest and finally achieve the complicated task together by a group of mobile robots in the dynamic complicated environment.It has high demand of real time and inscrutability of environment.Soccer robot system,a kind of autonomous system by the collaboration of multi-robot, is regarded as an ideal researching platform of multi-Agent by many researchers,it is used to study the real-time deduction and planning technology which are necessary for multi-robot to achieve multi-object and multi-task in complicated dynamic environment with much restriction and disturbance.The most urgent problem for researching and solving is how to improve the collaborating ability among robots in dynamic environment. Research on the behavior and organizing construction of multi-robot system as a whole in view of system has been a focus in the areas of robot,artificial intelligence,control and strategy.It connects the high technology with football and test the development of various theories,methods and technologies through matches.The system refers to many researching areas such as computer vision,multi-Agent theory,robot movement control, wireless communication,micro mechanics and electronics system,electric transmission and so on,it is a small opposed platform of high science and technology.Centralized control soccer robot system of large league 11 vs 11 proposed in this paper is composed of vision subsystem,strategy subsystem,communication subsystem and robot subsystem,which is in accordance with the relative rules released by FIRA in 2004.To obtain more excellent performance of the system,the better capability is need not only in part,but also as a whole.There are many technological problems in the centralized control soccer robot system of large league brought by the large area of ground and more robots.In his paper,deep research is made on the soccer robot system of large league and solve a series of critical problems of technology from theory to practice,finally design and realize the system.Main innovative researching achievements are as follows:A kind of plan was proposed to construct the centralized control soccer robot system of large league,the C/S mode software structure for the system was presented,image capturing structure by two cameras and communication between two computers were realized through adopting multi-thread technology of kernel synchronization,messages map and internet communication technology based on Socket,which had solved the problem of greatly increased data for process.Flag data pool was designed and realized, which can improve the memory of strategy system brain,as well as the intelligence of the system.The movement control of robot based on disturbing observer was presented, movement control structure of robot was determined after the introduction of disturbing observer,parameters of controller and disturbing observer were designed,as a result,the anti-disturbance and stability of robot were improved while moving with high velocity in the large ground.Velocity controlling algorithm with high acceleration was researched and realized without slip when the velocity was greatly changed.As the movement status of robot and collision between robots frequently happened,new detecting method and means were researched,which can detect the robot velocity accurately and realize the closed-loop control of velocity reliably.After analyzing the demand of vision system in large league,a new set of vision system was designed for centralized control soccer robot system of large league.A series of color patch system was designed after researching on the characteristics of different color models in real-time image process and object detection.A set of algorithm was designed to compensate the loss of color patch which was caused by illumination unbalance.Information from overlapped part of images captured by two cameras was merged,and image calibration algorithm was designed which can meet the need of real time after analyzing the characteristic of image distortion.According to the structure of centralized strategy,considering the characteristic of formalization,standardization and knowledgeability of logical thinking for soccer robot system and the large area of ground,a series of strategy based on the idea that attack and defence should be balanced was proposed and realized.After analyzing the defects of commonly used algorithm for avoiding obstacle,a new set of dynamic algorithm for avoiding obstacle was presented,which can both meet the needs of real time and avoiding obstacle.A kind of method which was used to dispose attacking and defending robots and allocate roles was proposed.Finally a set of dynamic attacking and defending strategy base on the prediction of opponents information was realized.A set of wireless communication system of one point to multi-point in short distance was researched and realized,which can meet the need of centralized control soccer robot system of large league.Based on the above theories and technological achievements,research and design of integrated centralized control soccer robot system of large league was completed.The system was used to take part in a series of domestic and international matches,champion was obtained in consecutive three years in domestic matches,third place was awarded at the FIRA RoboWorld Cup held in Dortmund Germany in 2006,second place was awarded at the FIRA RoboWorld Cup held in San Francisco USA in 2007,it is proved that centralized control soccer robot system of large league introduced in this paper have nice performance of stability,reliability,real time and advanced whole system.
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