Research On Task Decomposition And Allocation For Middle-Size League Soccer Robot System

Robot soccer competion is a high-tech oppositional, international activity which develops rapidly in recent years. It combines high-tech and the popular football game and it provides a good platform for robotics, intelligent control, wireless communication, image processing, mechanics etc. Therefore, the research on robot soccer competion system is challenging and has a high value for the theoretical study and practical application.Robot soccer competition is adversarial, complex and environmental dynamics. In the robot soccer ompetition,how to handle multiple robots task allocation and communication problems is one of the key problems of bringing into the robot team's advantages. On the basis of collection and analysis of relevant literature at home and abroad, this dissertation study Middle-sized League of robot soccer task allocation algorithm and system communication. The main contents include:1. Task decomposition for medium-sized group of robot soccer system.The objectives and tasks to be completed is according to the type and difficulty of the task, environmental requirements and system resource allocation and other factors into several sub-tasks. In the task decomposition process, to fully ensure the relative independence of sub-tasks in order to reduce the data exchange between the individual robot, maximum use of local resources to improve the overall efficiency of the system. Associated with environmental features for the complex and dynamic abstract task, this dissertation presents a new robot soccer based on environmental characteristics of the system task decomposition method. Extracted from the environment characterized by task-related features state of the environment, special attention to the other position on the pitch characteristics of the distribution of the impact on the environment, proposed golf course based on environmental characteristics of the dynamic segmentation method, thus achieving the task decomposition; lag for the task decomposition shortcomings, the introduction of the concept of radiation area players, advanced, regionalization of the description of the robot in real time status. And experimental results demonstrate the effectiveness of its feasibility. 2. Task allocation for medium-sized group of robot soccer system.In case of determined number of multi-robot and a good sub-tasks have been decomposed, sub-tasks assigned to each robot and the line of duty, to ensure the system the time required to complete the overall mission as short as possible, to run out As low as possible while also meet a number of constraints. Medium-sized group the task of robot soccer system through the allocation of task allocation algorithm to achieve. This dissertation presents a value robot system task allocation method based on genetic algorithm, simulation results show that it is feasible and effective.At the end of this dissertation, the full text of articles is summarized. It points out the main research results, and also shortcomings and problems which need to be further studied.