Design, Based On The Decision-making Model Of Multi-agent Robot Soccer System

Soccer robot system is the focus of artificial intelligence and multi-agent system by now. More and more domestic and international scholars pay attention to it for its integrative characteristic of Hi-Tech and recreation.Soccer robot system consists of four subsystems: robots, vision, decision-making and communication subsystem. Decision-making subsystem is the pivotal part of the whole system. It picks up information and decides cooperative role intentionally. Now researching about decision-making subsystem of soccer robot is based on coordination mode of physically or logically absolute concentricity. All decision is completed in the computer, and the robots haven't intelligence. This kind of model of decision-making is not a structure of multi-agent in physical.This paper set up a decision model based on multi-agent about 3vs3 system MiroSot series soccer robot, from the aspect of multi-agent. Decision-making is divided into two parts: advanced control-layer and basic control-layer, finished in the computer and the robot's controller separately. Among this model, the robot should finish some decision task with its intelligence.*In the design of advanced control-layer, the paper put forward the situation analysis method by state mapped table on the basis of the original method of area partition, this kind of method has higher dynamic adaptability, much accurately reflects the situation of field.In the design of basic control-layer, the paper puts forward the method of control at two stages, it divides the robot's route into fixed rectilinear motion and arc sport control, and adopts fuzzy control algorithm to realize the basic route control of fixed rectilinear motion.Researching of this paper lays the foundation to the development from the soccer robot system to independent robot systems, closer to the human soccer match, make follow-up research work have a realisticABSTRACTmeaning even more.