The Research On Cooperation And Control Strategy Of Soccer Robot

Robot soccer match is a kind of high-tech match which has arisen aroundthe world in recent years. Robot soccer, referring to the fields of robotics,intelligent control,data fusion,computer technology,wireless communication,image processing,mechanics and so on, is the outcome of all these scientifictechnology. It is also a typical nonlinear control object and is a good test bedfor many kinds of control theory.Generally, the whole system consists of four subsystems: robots, vision,communication and decision-making subsystem. Decision-making subsystemis the pivotal part of whole system. Its characters picking up information anddeciding cooperative role intentionally, indicate that the whole system hassome characters of agent.FIRA MiroSot 5vs5 Soccer Robot System is investigated in this thesis.Firstly, based on analyzing MiroSot 5vs5 soccer robot decision-makingsubsystem and according as the theory of intelligent control system, threelayered architectures of decision-making is constructed, including theorganizational level, the coordination level and the execution level. Then,design schemes about every level are introduced in turn.During the process of designing the organizational level, the proteansituation on the competition ground is expressed by an artificial intelligencemethod for describing the state space that is constituted by selecting a smallnumber of discrete representative states. By defining the formations and roles,the tasks of the system are confirmed.Meanwhile, during the process of designing the organizational level, akind of role allocating scheme based on the blackboard architecture is broughtforward in this thesis and motion deadlocks that are very popular problems inrobot soccer games are considered.And last, during the process of designing the execution level, the soccerrobot kinematics model is set up and the path-planning and motion controlalgorithm about the base behaviors and the complicated actions is developed,which allows a soccer robot to accurately reach a target point with a desiredorientation in an environment.