Robot Soccer Game In A Dynamic Path Planning Research And System Software Design

Soccer robot system is a typical multi-agent system and multi-robot cooperative system. Furthermore, it provides a new standard test-bed and theoretical research model for real-time artificial intelligence with multi-agent systems. In this paper, the main research on system software design and path planning fur soccer robot system is introduced.Firstly, some useful design rules on object-oriented design (OOD) are introduced. They tell us how to respond the change of design desire through very small design alteration, as changing of design desire is inevitable within the development phase.Secondly, some design patterns which are used in the development of soccer robot system are analyzed and summarized. Design patterns make it easier to reuse successful designs and architectures, and help us choose design alternatives that make a system reusable and avoid alternatives that compromise reusability.Thirdly, the Unified Modeling Language (UML) is used to model the soccer robot system. By using UML to build use case diagrams, state diagrams, sequence diagrams and class diagrams for the soccer robot system, we can look at the system generalize aspects in difference perspectives through these diagrams and make clear the relation of these component.Finally, considering the real time and uncertainty environment in soccer robot game, a new path planning method based on statistical and forecast is presented. The method considering two uncertainty of motion obstacle: velocity uncertainty and direction uncertainty, Using probability statistics to modeling obstacle motion, 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 the 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. The result of the experiment and applied research indicate: the path planning can adapt real time and dynamic circumstance in soccer robot game, had obtained the good effect in the actual competition.