Micro Soccer Robot Defensive Strategy And Robot Car

The soccer robot system is a multi-robot cooperative system and a typical model of MAS (Multi一Agent System). It involves diverse fields such as computer vision,artifical intelligence,integrated of mechanics and electronic,sensing-technology,wireless communica -ation ,intelligent control and so on. The reseach on soccer robot is becoming a hot point now.The paper is based on the background of Mirosot FIRA soccer-robot game.The focus of research is micro soccer-robot system which bases on the full- vision.The paper's main tasks are defence strategy of micro soccer-robot and the design of robot-car.The main research tasks are as follow:First, structural characters of MAS is analyzed in this paper. Combining the characters of soccer-robot,a new hybrid architecture agent model is advanced.Then,the model of decision-making system is presented,with the improved fuzzy logic,the paper makes the situation analysis and order choice and assignment allocation come true.Finally,the principles of defence methods,the selection of de defence tactics and defence formation,the selection of defence acti -ion and the decision of defence action etc are expatiated in detial.Second,the design of robot-car,in the mechanical part,the former limitation that only front side could control ball is conquered,a new robot-car which can control ball with two sides is designed.Maki -ng use of the rule,we design two grooves in the front and back of the car which improve the ability of controlling the ball.Its hight is reduced,therefore its stability and flexibility are enhanced. In thecontrolled circuit part the paper focus on improveing its abil -ity of response rate and anti-jarmming,inhancing its stability.