Research And Exploitation Of Mirosot Robot Decision-Making System

Robot soccer competition is a High-Tech activity that is developed rapidly in recent years. Soccer robot relates to many fields such as robotics, computer, data communication, image processing, sensor and artificial intelligence etc. Therefore, it provides a favorable experimental flat-form for the research on multi-agent, robot and other related fields, and it is helpful to theory's combining with practice.MiroSot of robot soccer system consists of four components vision subsystem, expert decision-making subsystem, wireless communication subsystem and robot. In order to conquer opponent and win in soccer robot game, each parts of soccer robot system must be excellent capability and cooperative work reliably. We emphasize our researches on some relative technologies in decision-making subsystem. The main contents and related original achievements are as follows:Firstly, this dissertation analyses decision-making character of robot soccer system and introduces arrangement of configuration which is Basic Movement Layer, Path Planning Layer and Harmonizer Layer. Simple and complex actions are designed according action characteristic of robot. Design of goalie and placement-ball is proposed.Secondly, a robot soccer strategy based on fuzzy logic is presented for the decision-making subsystem of robot in case when robot player is in dynamic environment. The strategy puts together the role assignment and motion planning to achieve high efficiency. The role assignment and motion planning of robot in offensive and defensive cases are discussed separately.Thirdly, a learning method based on Locally Weighted Regression is proposed to forecast the motion of the ball, especially after the ball bump into wall. The error is adjusted with fuzzy logic, that is, the robot moves based on the forecasted condition of the ball.Fourthly, the game platform of Middle League SimuroSot is introduced. This dissertation proposes that coordination problem among multi-robot and role assignment are resolved using blackboard.