【作者】 翟兴明；

【导师】 陈启军；

【作者基本信息】 同济大学 ， 控制理论与控制工程， 2007， 硕士

【摘要】 随着多机器人系统越来越广泛的应用，多机器人协作也受到了越来越多学者的关注，它是多机器人系统中一个关键部分，直接关系到系统完成任务的效率、成本和优劣。足球机器人系统是一个极富挑战性的研究平台，它融合了实时视觉处理、无线通讯、多机器人协作等多个领域的技术。机器人足球环境下的多机器人协作可以应用到很多领域中，具有重要的意义。本文以RoboCup中型机器人作为研究对象，分别从机器人自身系统和多机器人协作系统两个方面进行了研究，主要研究成果如下：首先，研究了中型机器人的软硬件体系结构问题，针对实时比赛的要求，提出了万向轮机构的设计方案，大大改进了传统两轮机器人结构，动作反应更加灵活，该机构能够很好的适应节奏越来越快的比赛；针对万向轮机构，设计了3节点的底层电机控制系统，它可以通过串口与上层笔记本电脑快速通讯，能够很好的实现实时工作要求；针对机器人射门时击球力量和速度的问题，设计了一套电机驱动的舌形弹簧射门机构，机械结构简单，占用空间体积小，控制电路简单，较好的满足了比赛中实时射门的要求。其次，研究了足球环境下的多机器人控制体系结构的问题，提出了协作规划层、协调规划层和行为控制层三层体系结构。在协作规划层中，通过对静态分区和动态分区策略的比较，设计了Robocup中型机器人组比较实用的基于本垒的静态分区策略；分析了多机器人的队形控制，针对不同的比赛情况设计了相应的队形，并运用Petri网建立了模型；在协调规划层中，分析了角色转换的原理，并建立了相应的Petri网模型；在行为控制层中，设计了机器人的基本动作、技术动作和战术动作，并给出了相应的程序实现。此外，还运用Petri网理论建立了传球模型、后卫模型、守门员模型和前锋射门模型。针对Petri网模型的冲突和死锁问题，分别提出了动态角色分配协议和可达标识图的解决方法，并进行了仿真验证。更多还原

【Abstract】 With the increasing application of multi-robot system, more and more people were concerned with multi-robot cooperation. As a key part of multi-robot system, multi-robot cooperation had a direct effect on the efficiency, the the cost and the performance of running the system. As a multi-agent system, soccer robot system was a challenging research platform, which combined with many technologies, such as real-time vision manipulation, wireless communication, multi-robot cooperation, etc. Multi-robot cooperation in the robot soccer environment could be applied to many fields, and it had practical significance. In this paper RoboCup Mid-size Robot are the object of study from the two sides of the robot system and the system of multi-robot cooperation, the main research results are as follows:First, this paper reasearches the problom of the hardware and software architecture of Mid-size robots. According to the real-time requirements of the competition, the paper designs the mechanism of omni-direction wheels, which achieves a great improvement on the traditional mechanism of two wheels robot, and a more flexible response. This mechanism can adapt well to the increasingly rapid pace of the competition. In allusion to the mechanism of omni-direction wheels, this paper designs the electrical control system of three nodes in the bottom, which could communicate fast to the laptop with serial port and match the real-time requirements well. According to the problom of hitting power and speed of robot when shooting, this paper designes a motor-driven tongue-shaped spring shooting mechanism, which has a simple mechanical structure, smaller space in size and simple control circuit. This shooting mechanism meets the real-time requirements of the competition better.Second, this paper reasearches the problom of multi-robot control architecture under soccer environment, and gives the three-layer structure of the collaborativel, coordinate and behavior-control. In the layer of collaboration, according to the static and dynamic regional strategy for the district, this paper designs a mid-size robot group of practical strategies based on home plate in the static area, and analyses the control of multi-robot formation, and designs the corresponding formation according to the different games, which use Petri nets to set up models. In the layer of coordination, analyses the principle of robot role change, and set up the corresponding model with Petri net. In behavior-control layer, designs the basic skills, technic skills and tactical skills of mid-size robot, and gives the corresponding program. In addition, this paper also set up Pass model, fullback model , goalkeeper model and forwards shoot model with the theory of Petri net. According to the conflict and Deadlock of Petri net model, this paper gives the solution of the protocol of dynamic role allocation and the graph of reachable markings separately, which have been validated in the simulation.更多还原