Research On Defense Strategy Of The Centralized Micro Soccer Robot

The soccer robot system can be represented concretely as multiple agents moving in a complicate, real-time and nosiy surroundings full of antagonism and accomplishing a common task/mission through collaboration. Many researchers are attracted to devote into it because of its high-tech competition and good amusement. Robot soccer greatly enhances the development of artificial intelligence.Aiming at our FIRA MiroSot five vs. five micro soccer robot, this dissertation makes a profound and systemic research on its defence strategy and goaltender strategy and methods on the basis of my generally knowing its origin and development, well understanding its domestic and overseas status quo of research and fully comprehending its strategy subsystem.Firstly, aiming at the characters of the soccer robot decision making system, we present a model of strategy system which adds emergency model to deal with the casual and emergent incidents through the arbitrator. Based on fuzzy logic, the situation analysis and assignment allocation are realized, providing a solid base for the following research on defense strategy.Secondly, the layers of defense form front to back are defined. Balance between attack and defense and stratified defense strategy in midfield and the defense strategy for fullback role are designed in detailed.Base on the deep analysis of previous division regions, a novel designed goalkeeper strategy is adopted. The conception of degree of menace is proposed, in which the determination of the region border is of enough evidence with the isolines of menace. A new location method based on linear interpolation is presented in order to reduce the response time of the goalkeeper.The capability of controling ball of opponent kicker at penalty-kick situations is analyzed and and the goaltender tactic with respect to the attacker in arc path is designed.At last, On the base of kinematics model of soccer robot,the realizing goalie strategy is designed and simulation on the Middle League Simurosot (MLS) is carried out.The result proves the feasibility and efficiency of the strategy.