Robot Soccer System Modeling And Strategy Research

In recent years, an increase has happened in research interests and several kinds of competitions in robot soccer. It is no doubt that the soccer robot is a new interdisciplinary research area, referring to diverse fields like, robotics, intelligent control, artificial life, etc. Soccer robot system is a typical multi-agent system and multi-robot cooperative autonomous system. Furthermore, it provides standard test-bed and theoretic research model of those fields.Robot soccer game involves multiple robots, which need to collaborate/cooperation in an adversarial environment to achieve specific objectives or show a teamwork behavior. In such an active and noise environment, how to realize the real-time strategies/decision-making and robot real-time motion control are challenge problems.According to characteristics of soccer robot problem domains, cooperation architecture based on teamwork has been provided, which can realize hierarchical task decomposition and show team behavior. The architecture comprises formations, roles and actions, which has capability to translate sharing-task cooperation to task decomposition and task allocation. The task decomposition problem has been resolved by defining flexible roles of specific formation. And the task allocation problem has been resolved by an action selection mechanism of specific roles. The cooperation of home robots has been achieved by switch of team formations and roles transformation. All the results of decision-making and action selections under this architecture are exhibited by executed action of robots.A hierarchical strategies software architecture of decision-making layer/task management layer/action executing layer has been given, and applied to soccer robot strategies system software's design and development. This software had been used in FIRA robot soccer competition in 2003.