Fully Autonomous Soccer Robot Decision-making System

The soccer robot system is a multi-robot cooperative system and a typical model of MAS(Multi-Agent System).The thesis introduces robot soccer, history, actualities and the future and Robocup soccer robot game is the background of this paper.The object of research is medium-sized soccer robot system which base on the full-vision.The paper's main task has researched the control strategy system of medium-sized soccer robot.The mainly research of this paper as below:1.It has analyzed the character of the multi-agent system's organizational structure and combined the character of the soccer robot's system with the enviro -ment of competition and so on, proposed a new kind of shoot's algorithm.This algorithm has introduced the pridictable judgement mechanism aim at the defender's activity of the opposite party.In order to enhance the efficiency of the shooter, it can carry to curvilinear shoot aim at the possible defense activity of the opposite party.2.By comparing before,it has overcome the shortcoming in the robot control strategy system,strengthened the cooperation among the multi-robots and enhanced the ability of the control ball of robot and elaborated the movement as well as the movement function of attack strategy.On the basis of the bottom function, In view of the question of insufficiency has happened among the multi-robot's cooperation in competition,we have designed a set of attack strategy system.The question of cooperation between the attacker and the others is solved by this strategy in competition. The strategy has been tested in the medium-sized compitition of the soccer robot.