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RoboCup 机器人足球队 2D 仿真组高层策 略的设计 摘要： 本论文介绍了RoboCup 机器人足球队2D 仿真组的设计和实现，完成了 一个完整的符合RoboCup2D 仿真组比赛 求的机器人足球队。首先介绍了 RoboCup 和其仿真组比赛的背景，接着介绍了仿真组比赛的环境。从第三章 开始介绍了智能体(agent) 的基本结构和球队设计的思想，并重点阐述如何设 计队员的各种场上能力，各球员间的配合策略，以及守门员的防守策略。此 外还完成了阵形的实现和转换，以及基本的场上教练的设计。最后通过比赛 对所完成的球队和使用的策略进行了分析和评估。 关键词 RoboCup ；仿真组；智能体；配合策略 i High-level Strategy Design of RoboCup 2D Simulation Soccer Team Abstract In this thesis the design and implementation of a RoboCup 2D simulation soccer team is introduced and the aim to design an integrated soccer team which is qualified for the standard RoboCup 2D simulation competition is fulfilled. First, the background of RoboCup and its simulation league is presented followed by the introduction of the competition environment of simulation league. In chapter three, the basic structure of an agent and the framework of the team are described. Then how to design the skills of a soccer player and cooperation strategy between players in the field and the goalie strategy are particularly presented. Simultaneously, the team formations and transformation between different formations in a match are implemented. Besides, a rudimentary on-line coach is designed. In the last chapter the analysis and evaluation of the strategy used in current team are carried out through actual matches. Keywords: RoboCup, Simulation League, Agent, Cooperation strategy ii 目录 1 绪论1 1.1 RoboCup 简介1 1.2 仿真组比赛简介1 2 球队程序的开发环境和基本结构3 2.1 开发环境3 2.2 球队的基本结构4 2.3 球队启动的shell 脚本5 3 Agent 程序的结构6 3.1Agent 各