On Robot Soccer Decision-making Systems Based On Petri Nets

Robot-soccer is a new field with the joint knowledge of many aspects such as robotics, artificial intelligence and intelligent control. It is an important experiment platform for studying mufti-agent cooperation and artificial intelligence application technology.MiroSot system is such a soccer robot system based on the vision, which consists of the vision subsystem, the decision-making subsystem, the communication subsystem and the robot-body subsystem. Herein the decision-making subsystem is collaboration of the robot players and their path-planning during the whole competition. Whether or not the decision-making subsystem is designed well, it is the linchpin upon which the success or failure in the robot soccer competition depends.Aiming at the characteristics of the soccer robot game, the thesis establishes the simple and effective logical reasoning model and the system's architecture, which deal with the way of setting up the system. Then we developed several Petri net models of the structures of the the decision-making subsystem .The rationality of the models is analysed with a proper method. Finally the basic actions, which imitated human soccer player's skills, are designed and their path-plannings are conducted.