Decision-Making And Path Planning Research Of RoboCup Small Size League

Robot soccer is a field with the joint knowledge of many aspects such as robotics,artificial intelligence and intelligent control. It brings an ideal experiment platform to the research of theory and application of artificial intelligence. 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. In the thesis, the robot soccer decision-making system is analyzed on the robot soccer competition background, and some improvement in algorithms, performance and applications are developed.Firstly, the paper introduces the RoboCup small size robot system architecture,designs Robocup small soccer robot control system, provides the frame of the system, describes the function of every part. A two-loop motion controller including feed-forward controller is designed to control the motion of the omni-directional mobile robot, and many simulation analysises completed.In the next chapter,I illustrate soccer robot decision-making subsystem. A centralized soccer robot system composed of such subsystems as vision , decision-making , wireless communication.robot car and console is constructed.This paper summarizes the control problems of the centralized soccer robot system with central vision,decision-making and control system,and designs a soccer robot decision-making subsystem based on the hierarchical control structure.It was make up of top half and bottom half,both of them was depicted detailed in the third chapter.Path planning is the most important part in a soccer robot system.This unit presents a new approach to robot path planning under dynamic environment,improved ant colony algorithm. An ant colony algorithm is a stochastic searching optimization algorithm that is based on the heuristic behavior of the biologic colony.Its positive feedback and coordination make it possible to be applied to a distributed system.It has favorable adaptability in solving combinatorial optimization and has great development potential for its connotative parallel property.This study focused on global path planning with all ant colony algorithm in an environment based on grids,which explores a new path planning algorithm.How to present and update the pheromone of an ant system was investigated.Finally,in the local planning for obstacle avoidance,put forward the new method: environment detection and collision prediction based on rolling windows in order that the robot reaches the goal safely.The soccer robot will set up a forecast window and obstacle avoidance window during the process of its moving,according to the soccer robot position and obstacle forecast area in obstacle avoidance window.The soccer robot will combines tangent path method and rolling path method to execute path planning.This method is a local path planning.The soccer robot needs update the environment information and execute path planning continual.