Research On The Stratified And Structured Defense Strategy

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.In the robot soccer, strategy system as the brain of all system, it is a connecting link between the preceding and the following for Vision subsystem, communication subsystem and robot car subsystem. so most of the researchers in this field look it as an emphasis.Taking the MiroSot 5v5 robot as the study object, the paper made a deep study on the path-planning 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 configuration of system and the strategy system of micro soccer robot, and analyzed mode of works and modularizes design for system of soccer robot concretely. It expounded all parts of system and introduced strategy system stress.3. It founded the kinematics model and summarized the control method of soccer robot. This is the base of kinematics and dynamics analyses of defense strategy.4. It made a comprehensively analysis on the significance and purpose of the Defense and the relation between Attack and Defense for MiroSot 5v5 robot and then presented A stratified and structured defense strategy. Based on the analysis of the defense ability, a defense structure is established from front to back, and from middle to sides. The advantageous defense position is determined. Experiments showed that the novel strategy possesses high overall defense ability and exhibits higher defense rate of success compared with some other strategies.5. It accomplished the software for the defense strategy. 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.