Research On The Defence Strategy Of Micro Soccer Robot

The soccer robot system is a multi-robot cooperative system and a typical modelof MAS (Multi-Agent System). It involves diverse fields such as artifical intelligence(AI), computer vision, sensing technique, mechatronics and so on. the reseach onsoccer robot is becoming a hot point now.The vision-based remote brainless soccer robot is the focus of our reseach.Through theoretical anlysis and experiment, the strategy system of micro robot socceris studied systematically in this thesis, which includes the basic structure of strategysystem, the implementation of strategy and tactics, the method to experess theknowledge based on knowledge mapping table and the defence strategy etc.First of all, based on the analysis of the structures of the MAS and agent,considering the characters of the soccer robot, a new model is presented, which is oflayer knowledge, level inference, dynamical shared knowledge. Furthermore, a MASsystem constructed by host-agent, logic-agent and physical agent is established.Accordingly, a hybrid architecture agent model is advanced which absorbed thestrongpoints of deliberative architecture model and reactive architecture model.Secondly, aiming at the characters of the soccer robot, we present a model ofstrategy system which adds emergency module to deal with the casual and emergentincidents through the arbitrator.Thirdly, the detailed duty of each stategy module is depicted by knowledgemapping table. Based on fuzzy logic, the situation analysis and assignment allocationare realized in the forth chapter.Finally, we discussed the principle of the defence methods of the robot soccer andthe selection of the defence tactics, the selection of the defence action, the design ofthe defence action etc.