| Robot technology is a comprehensive application technology, highly involved multiple disciplines like artificial intelligence, machinery, electronics and automatic control, and is the most intelligent automation applications today. Humanoid robot as a real literal sense or in the narrow sense "robot" is a hot research direction that stands for the tip of robotics research level.In practical applications, multiple robots often appeared at the same time, resulting in a distributed multi agent system which has become our research hotspot. Each robot should have their own responsibilities in multi agent system collaboration, and do dynamic role assignment simple and effective for robot to adapt to the dynamic changes of the environment better. And the role selection is gravely based on the robot’s location; therefore the most important problem is accurate localization in limited visual uncertain, noisy and dynamic environment.Based on the simulation platform of RoboCup3D, The specific work this paper studies as follows:1. Elaborate the basis of robot kinematics, do the kinematical modeling based on humanoid robot structure, solve robot joint angle to the leg pose using forward kinematics algorithm, and use inverse kinematics analytic method to converts robot walking problem to joint angles problem. This part is the basic of Robot competition, and the implementation of following content will based on this part.2. In RoboCup simulation game, robots get the positions of their own and the other objects according to vision, but this vision model is a restricted vision model. Thus according to different number of conditions there are different robot localization methods. Aim to visual information noise, proposed an improved localization method based on the Kalman Filter. A prediction method of the position of the robot is given by the analysis of the motion model simulation game, combined with the Kalman Filter theory to get rid of the noise information observed to improve the localization accuracy.After years of development, RoboCup3D simulation game has been more and more close to the human football game form the initial3vs3game into11vs11. Therefore, how to assign the players role and of choose formation more effectively is very important. This part we shows an arrangement of the team’s formation, and assigns special duties to each player, and put forward a dynamic role assignment policy based on dynamic programming, make each player switch their roles timely according to the dynamic changes of the playing condition to meet the requirements of the game.The above work applied to the Anhui University of RoboCup3D simulation team called DreamWing3D, and improved the team’s offensive and defensive capabilities, better completed the competition. |
