Research And Implementation Of The Efficient Behavior Of Policeforce Agent In RoboCup Rescue Simulation

RoboCup Rescue simulation system is a typical multi-agent system, which provides a wide range of technical support to promote the research of AI (Artificial Intelligence), robotics and related fields as well as multi-agent collaborative. It is of great value both in theoretical research and practical application. As an important agent of rescue simulation system, the police force agent's mission- clearing blockades is critical in the early simulation. So, it is particularly important to deeply study the behavior of the policeforce agent.The main jobs are as follows:(1) Research of the Policeforce Agents'BehaviorFirst, the behavior of the policeforce agents is analyzed and defined, it is categorized into strategy behavior in decision-making layer and action behavior in execution layer. And these two behaviors are introduced in detail. In addition, this paper deeply analysis the characteristics of the efficiency of the policeforce agent, and the relationship between the efficiency of the policeforce agent behavior and the methods to achieve the efficiency.(2) Distribution strategy of the policeAccording to the characteristics of rescue simulation system and policeforce agent, this paper proposes a partitioning strategy based on K-means algorithm. It is a distribution strategy of the police. The artical describes the principles and the application process of K-means algorithm.(3) Task allocation algorithm of the policeRegarding of the Rescue Simulation System communication situation, the allocation is defined in two categories:distributed task allocation in scenarios without agent center and centralized task allocation in scenarios with agent center and enough communication channels. This paper uses the strategy based on task priority and the strategy based on Hungarian algorithm.(4) Construction a clearing modelThe clearing action ensures the strategy and is the basis of efficient behavior for policeforce agent. According to the characteristics of the new clearing method, this paper builds a clearing model called "GuideLine". The police clears blockades and moves along the guideline, so that the path it traversed is smooth and clean.