Rearch Of Fire Strategy And Fire Task Allocation In Robocup Rescue Simulation Game

In recent years, multiple natural disasters and man-made hazards posed by armed conflict which has been attracted wide attention has been seriously threat to the safety of the people. RoboCup rescue simulation system simulate the real situation of urban disasters through the computer, and it's aim is to provide disaster simulation system for effective rescue scene work, and rescue injured people as quickly as possible, saving people's lives and property, the loss of the disaster reduce to a minimum. RoboCup Rescue Simulation has possible development in a variety of different areas, and provides decision support for people in the actual rescue operations, which has very far-reaching of its research significance.In the RoboCup Rescue Simulation Game, the fire fighting plays an important role on the rescue. Fire extinguishing is served by the fire team, so the fire team strategy and task allocation of fire determines the quality of fire protection. In this dissertation, on the basis of collation and analysis of relevant literature data, we will rearch the fire policy and fire team task allocation on the platform of RoboCup Rescue Simulation Game for the research.The primary research is as follows:(1) Design of fire strategy which based on partitioning for the RoboCup Rescue Simulation GameThe fire of RoboCup Rescue Simulation System is generated by the fire simulation. Did analysis the physical model of heat transfer of the fire simulator, result in a fire in the building come to pass between the key factors for the distance between buildings, the fire spread rate and negatively related to the distance between buildings relationship. Thus using the density-based clustering method to partition all the buildings in the map, making the fast spread of the building gathered in the same building cluster partition. Zoning and building through the establishment of each of the evaluation function to represent the district and the impact of construction on the fire spreading to arrive at the fire partition-based strategy. Finally, it is verifed the validity of the method by experiment. (2) Design of task allocation of fire team in RoboCup Rescue Simulation Game.Combined with the communication features of the fire team, the task allocation is divided into centralized utility function-based task assignment and the contract net protocol based on distributed allocation. When the fire team in the communication system of the central fire control center node, it can use a centralized task allocation based on the utility function. The fire center collects all the local information of the firefighters and fuses the global map information, and then decompose the total task into multiple sub-tasks assigned to each firefighters perform. The allocation algorithm is simple and can achieve global optimal allocation. When the fire team's communications system haven't fire center, through the short-range communication between firefighters, contract net based distributed task allocation, firefighters found task to task to send to other firefighters and issue of tender application, and then through the bid and contract to establish and achieve common tasks. Finally, verify by experiment the validity of the methods of cooperation.At the end of this dissertation, the main research is summarized. It makes out the points of innovation and main research results, also give the shortage in the dissertation and the problem need to further research.