机器人足球系统的协作及其控制策略-计算机应用技术专业论文.docxVIP

国防科学技术人学{IJ|_宄生院学何论文ABSTRACT 国防科学技术人学{IJ|_宄生院学何论文 ABSTRACT As a ldeaI test。bed of the research of multi‘agent system．robot soccer IS a interdisciplinary research direction，it includes robotics，sensor fusion，intelligent control，communication，image processing，electro mechanization，computer technology,artificial life，etc In the robot soccer game，robot compete with the opponent through cooperation and coordination and finally win the game，it is a epitome of the robot society in the future In this paper，the author puts forward a more accurate control algorithm after analyzes the competition strategies of the original system，and masters the developing methods of the 5--5 and 1 1——1 1 robot soccer simulation system used in the imemational robot soccer competition，then the author transplants the cooperative strategies and motion planning methods of the hardware system to this simulation system，and makes some adjustments and improvements according tO the characteristics of the simulation system．Furthermore，the author realizes a multi-robot real time path planning and coordinate control algorithm in the dynamic environment，and puts it in the robot soccer game，proves its efficiency． In order to improve the tracking ability of the robot tO the ball，this paper makes a prediction research of the ball and gets a better performance，and it can be extended and used in the other aspects． This paper makes a summary of the author’S research and shows the subsequent work tO do Keywords：artificial intelligence robot soccer simulation competition cooperative control multi-agent motion planning 第v页 国防科学技术人学研究生院’?何论文第一章绪论 国防科学技术人学研究生院’?何论文 第一章绪论 近年来，基于多智能体系统(MAS)的多机器人合作问题已经成为人们关注 的焦点，核心问题是如何来组织和控制多个机器人去完成单个机器人无法完成的复 杂任务，这个问题在很多领域都有潜在的应用价值，比如工农业生产、医疗卫生和 国防工业中都已经有相关的问题被提了出东。机器人足球作为研究多智能体协作问 题的理想试验平台在近几年得到了不断推广和飞速发展，它将机器人学、机电一体 化、通讯与计算机技术、图像处理、传感器数据融合、决策与对策、模糊神经网络、 人工生命与智能控制等学科内容进行了有机的融合，它的兴起也必将推动多智能体 与多机器人技术的不断发展。正因为如此，MiroSot(Micro—Robot SoccerTournamen c) 和RoboCup(RobotWorldCupInitiative)t