Research Of Centralized-control Robotics Soccer Strategy System

Robotic soccer is a new interdisciplinary research area, which encompassesdiverse fields such as robotics, artificial intelligence, intelligent control, computervision, machine learning and so on. Soccer robot system is a typical multi-agentcooperative system. This system provides the theoretical research of robotics,multi-agent system and relative fields a standard test-bed. Vision-Based Remote Brainless Soccer Robot System is investigated in thisthesis and several problems are researched, including multi-agent system teamworkstructure, motion control and path planning for differential drive mobile robot, soccerrobot's behavior design, real time decision-making etc. Firstly, based on the characteristics of Vision-Based Remote Brainless SoccerRobot System, a kind of centralized-distributed soccer robot decision-making controlstructure is put forward by a high level decision module processing centralizeddecision-making and robot agent can respond to the environment under high-leveldecision module coaching, while acting autonomously. Secondly, the differential drive mobile robot kinematics model is set up and amotion control algorithm is developed, which allows a general differential-drivenmobile robot to accurately reach a target point with a desired orientation in anenvironment with multiple moving obstacles. Thirdly, a kind of agent architecture that allows agents to sense the environment,reason about, and take actions in the real world is proposed. Meanwhile individualagent's diverse behaviors are designed and implemented, such as attacking behavior,defending behavior, tactical behavior. Finally, based on concept of tactics, formations and roles, the teamworkarchitecture for multi-agent system is proposed. Collaboration between agents throughthe introduction of tactics has been achieved. Tactics is made up of a series offormations, and the task space is decomposed through defining a set of roles.Homogeneous agents can flexibly switch roles within a formation, and team canchange formations dynamically, according to judgement of current conditions.