Research And Implementation Of Cooperative Tactics In Simulation Robot Soccer

In the recent years, robot soccer tournament has become one of the focuses of AI and robotics. In the past fifty years, the research of artificial intelligence was primarily focused on solving problems of single agent in static predicting environment. And chess man-machine play is the typical of that. From now on, the field will be extended to multiplicity agent dynamic and unpredictable fields step by step. The technological difficulties in the robot soccer have been fully manifested by machine-machine and man-machine games. Robot soccer system relates to the technology of robotics, integration of machinery with electronics, multi-agent cooperation, decision-making and image processing and so on. Compared with real robot soccer system, robot soccer simulation system required low demand and be put into practice easily, which is very suitable to develop the decision-making and planning research emphatically. In this article the prime objective aims at cooperative tactics of simulation robot soccer.Firstly, the thesis analyzes kinetics and kinematics model of robot soccer system. And it introduces the typical decision-making model and highly state of three-layer decision-making model, i.e. stratagem, tactics and action layer, adopted in the system. Secondly, robot action design have been given in this article, including multiplicity going position, truncation ball, and goalie defend and shooting action. Thirdly, the article elaborates multi-robot cooperative technology and explicates formation, dynamic role-assign and path planning. In the role-assign system, the fuzzy theory is used for expressing the situation to set up the corresponding robot roles, and then assigned role is related to the every concrete robot. In the path-planning, PSO algorithm which is suitable for robot soccer is adopted. Finally, the thesis explicates research results and effect of tactics system. The algorithm which analyzed and predicted from robot soccer situation be brought forward based on the establishment of perfect multi-level world model. The tactics system provides with effective solution on the basis of the analysis and prediction of stratagem, tactics and action layer, which is useful for further decision-making. In the end, the paper elaborates the whole implementation of tactics system.This thesis refers to the research and effective implementation of cooperative robot-soccer tactics system as well as the systematic research of multi-technologies in robot soccer system. Moreover, satisfied results of situation analysis, goalie tactics and path-planning are obtained. At the end of the thesis points out some deficiencies in the system and the plan in the further.