Research And Development On Behavior Strategy For Micro Soccer Robot

Robot soccer is an international high-tech competition that is developing very rapidly. It can speed up the development of many fields such as artificial intelligence, image processing, wireless communication and real time control etc. It is of great study value.Taking the MiroSot robot as the study object, the paper made a deep study on the strategy system and the defense strategy of goalie through practicing theory.The study mainly lies in the following aspects:1. It made a comprehensively analysis on the present study circumstance and its development direction and then decided the study direction and content of the paper.2. It analyzed the feature of the strategy system of micro soccer robot, made a deep study of the structure for the strategy system of robot soccer. The models for the strategy reasoning were well studied, then a three-layer reasoning model was proposed and the details of each layer was introduced, the frame for strategy system was well constructed.3. The paper generalized all kinds of behavior of soccer robot in the match and proposed the necessary reflex behaviors. An area-based method was presented to arrange the formations and behavior for soccer robot, which suitably divided the field into several parts, and provided dynamic formation and behavior for any situation according to the position of the ball.4. It presented a new role-assigned mechanism for robot soccer and made out the rules for calculating the values to choose the best robot for certain role, then validated the feasibility in practice. This mechanism ensured that every robot take a suitable and unique role, which make all robots cooperative; A activating mechanism was also presented, which ensure all behaviors be activated in time.5. It finished the design of auto-locating for robots, which enable the robots move to the positions in the field that are the same of the positions pointed by the mouse in the picture, and can increase amusement for the match.6. It accomplished the software for the strategy above. In order to ensure the real time and reliability, it improved the software related to the communication system and vision system, which strengthened the whole performance.