Research And Design Of The Three Subsystems Of Robot Soccer System

Multi-Agent System (MAS) is a hot problem in artificial intelligence research field. The research content of multi-agent cooperation theoretic is that the multi-agent groups how to organize, cooperate and complete the complex task in a complex dynamic environment.Robot soccer match system is a typical multi-agent cooperation system; therefore it is a standard platform for researching in multi-agent cooperation problems. FIRA (Federation of International Robot soccer Association) MiroSot (Micro-Robot Soccer Tournament) group is one of the most pop robot soccer matches, whose system includes vision subsystem, decision-making subsystem, wireless communication subsystem and soccer robot subsystem. MiroSot is involved in many reseach domains, such as computer vision, MAS, robotics motion control, wireless communication, micro electromechanical system and electrical driver.The major content of this dissertation is to reseach in decision-making subsystem, wireless communication subsystem and soccer robot subsystem. The decision-making subsystem is the core of MAS cooperation theoretic research and application; its target is to resolve cooperation and motion problem of robot. The wireless communication subsystem makes the decision-making subsystem communicate with soccer robots. The soccer robot subsystem is the executive part of the system.The research task is financed by National 863 Planning Project "Soccer Robot Development" (512-9935-08), "Micro Group Robot Soccer Pivotal Technology Research" (2001AA422270) and Guangdong Province S&T Researching Project "Multi-agent System Experiment Platform, Simulation System and Application" (2KM00502G).