Mirosot Soccer Robot Decision-making Subsystem Analysis And Design,

Robot soccer tournament now has been an important test-bed for application technology of AI theory. More and more researchers pay attention to it. Generally, the whole system consists of four subsystems: robots, vision, decision-making and communication subsystem, decision-making subsystem is the pivotal part of whole system. Its characters, picking up information and deciding cooperative role intentionally, indicate that the whole system has some characters of agent.The paper takes the 3 vs. 3 item of robot soccer tournament as research object. By analyzing the design of decision-making subsystem in 3 vs.3 tournament, the decision-making subsystem with three layers has been ameliorated, and new decision-making model with two layers is provided.The model with three layers was invented by scholar of Korea and adopted by many domestic or overseas researching groups. The paper presents significant improvement for decision-making without changing the framework of three-layer.The model with two layers was advanced by us, which was based on the analyses of characters of robot's movement. In this model, behavior-based system is accepted as robot controller, which makes robot become a unit with certain ability of self-command, hi fact, this design comes from inspiration form multi-agent system, and makes decision-making system be more flexible.