【作者】 耿淑琴；

【导师】 赵臣；

【作者基本信息】 天津大学 ， 机械制造及其自动化， 2004， 硕士

【摘要】 RoboCup小型组足球机器人研究在动态环境下使用集中或分布的系统如何控制多智能体以及完成它们的协作。机器人在具有运动物体的环境中完成任务，障碍回避是一项很重要的任务。机器人是根据策略子系统发出的无线指令运动的，每秒钟接收和执行约30帧运动指令。由于RoboCup小型足球机器人采用集中视觉控制方式，因此当机器人根据当前指令向目标位姿的运动过程中，若前方突然出现其它机器人等障碍物，在没有接到下一帧指令之前，机器人只能按原规划路径前进从而造成碰撞。本课题正是为解决这一问题而开展研究和开发工作的。本论文在广泛搜集资料的基础上，经过深入的理论分析与实验研究，采用自主紧急避碰方法较好地解决了此问题。主要研究工作包括传感器选择、传感器个数计算、传感器安装位置确定、传感器控制系统电路设计及策略编程等。运用锁相环可以无误差地发射和接收信号从而可以跟踪和锁定发射频率的特点，准确地解决了是对方机器人还是本方机器人发出的信号之区分问题，也能判断出前方是赛球还是障碍物。采用了红外线发射系统和接收系统，抗干扰能力强，可以避免阳光和电灯等光线中红外线成分的干扰。为了减小发射系统电源消耗，减轻机器人电池重量，延长发光二极管使用寿命，在红外传感发射系统中，红外发光管采用了脉冲直流驱动方式。在确保发射系统平均电流不变的情况下，运用微分电路减小脉冲的上平顶宽度,提高了脉冲的空度比，降低了能耗。完成了不同障碍物情况下机器人紧急避障策略的研究。实验表明该方法是相当有效的。更多还原

【Abstract】 RoboCup F-180 soccer robot studies how to control multi-agent and shows a teamwork behavior in a dynamic environment. Robot moves in the environment with the static and moving objects, collision avoidance is an important point. RoboCup F-180 soccer robot moves according to the commands of subsystem to planning, with receiving and carrying out 30 frames program every second. Being vision-based the Robocup F-180 soccer robot that is moving toward target according to instruction must have a collision, if obstacles are abrupt coming in front of it. In order to solve this problem, a deep research was executed on the RoboCup F-180 soccer robot. After finding out a lot of inferences, theory designs are contacted closely with experiments. The paper presents an approach that may avoid considerably the emergent collision. The work includes the selection of sensors, the calculation of the number, the determination of the position, and the design of the control system, etc. PLL can follow the tracks of frequency to transmit without error. The robot can distinguish the signal emitted by itself from the signal emitted by the opposite team. It can also differentiate the detected object to be the ball or other obstacles. Infrared of sensor system can resist interfere of infrared to sunlight or electric lamp and can easily come into being. To save power supply and relieve battery weight, pulse driving is used in system and derivative circuit is used to decrease high pulse width. Experiments show that the proposed method is efficient.更多还原