足球机器人毕业论文.docVIP

足球机器人毕业论文 题目 仿真机器人足球整体性能的优化与实现 专业 计算机科学与技术 摘要 1 1 绪论 2 1.1 背景及意义 2 1.2 RoboCup机器人世界杯 2 1.3 RoboCup仿真比赛 3 1.4 论文组织结构 3 2 RoboCup仿真比赛综述 4 2.1 RoboCup仿真平台简介 4 2.2 比赛服务器端 4 2.3 球员客户端 6 2.4 仿真平台主要特点 6 3 多智能体系统架构 7 3.1 团队整体策略 7 3.1.1 角色和阵型 7 3.1.2 局部通讯模型 8 3.2 智能体体系结构 10 3.2.1 建模 10 3.2.2 通讯 12 3.2.3 动作 12 3.2.4知识库 13 3.2.5 规划决策 14 4异构智能体的选择和辨识 15 4.1在线教练设计 16 4.2异构智能体简介 17 4.3异构智能体的选择 17 4.3.1指标提炼 18 4.3.2 指标归一化 19 4.3.3 分配算法 19 4.4 异构智能体识别 20 4.5小结 20 5智能体间的配合与对抗 21 5.1智能体间的配合——传球 21 5.1.1传球路线的搜索 21 5.1.2传球路线的决策 22 5.1.3更多的配合 24 5.2智能体间的对抗——射门 24 5.2.1领先一步模型 24 5.2.2射门成功率分析 24 5.2.3射门动作的测试 26 5.2.4其他对抗动作 27 6 系统架构 27 结论与展望 29 参考文献 30 致谢 31 仿真机器人足球整体性能的优化与实现 摘要：随着计算机技术的告诉发展，分布式人工智能中的多智能体系统（MAS: Multi-agent System）的理论与及应用研究已经成为人工智能研究的热点。RoboCup（Robot World Cup，即机器人足球世界杯）作为人工智能和机器人学新的标准问题，具有多智能体系统的诸多特征，是各种新理论和技术良好的试验平台。关键词：RoboCup；分布式人工智能；多智能体系统 Optimization and Implementation of the simulation of the overall performance of the robot soccer Abstract:With the development of the computer technology, research on the theory and application of Multi-agent system (MAS) has become a hotspot of Artificial Intelligence. As a new standard problem of AI and Robotics, RoboCup environment is a typical MAS and it is a good test bed for the theory and technology in this domain. First,this paper introduces the research background of RoboCup.Second, the simulation environment of robot soccer. After presenting the aim of this thesis, first it introduces the architecture of the multi-agent system from two aspects of the team’s overall strategy and the agent architecture, it apply the hybird agent architecture in the team. The architecture consists of modeling, communication, actions, domain knowledge, deliberative reasoning and reactive module. Accomplished the assignment and recognition of heterogeneous agent by an online coach in chapter four, some essential guidelines are abstracted and the framework of assignment is set up with these guidelines. Refined