微型足球机器人防守策略和机器人小车的研究

【作者】 胡发焕；

【导师】 刘祚时；

【作者基本信息】 江西理工大学 ， 机械电子工程， 2007， 硕士

【摘要】 足球机器人系统是一个多机器人相互协作的系统,它是一个典型的多智能体系统(Multi-Agent Systems,MAS),它所融合的领域有:计算机视觉、人工智能、机电一体化技术、机器人学、传感器技术、无线通讯、计算机图形学等,它已成为当前智能机器人领域的一个热点。本课题是以Mirosot FIRA足球机器人比赛为背景,以基于全视觉的微型足球机器人系统为研究对象,主要研究了微型足球机器人的防守策略和机器人小车系统的设计。本文的研究主要体现在:1、分析了多智能体系统组织结构特点,结合足球机器人系统的特点,提出了一种混合型体系结构的Agent模型。接着提出了微型足球机器人决策系统结构,利用改进的模糊逻辑方法具体实现了决策系统的态势分析、队形选择和任务分配。之后,详尽地论述了防守策略、防守的队形和战术的选择、防守动作的选择以及防守动作的设计等。2、在机器人小车子系统的设计中,在机械设计部分,克服了以往部分机器人小车只能用小车的前端控球的缺陷,本文设计的小车前后都能控球。同时充分利用规则,在小车的前后各设计了两个控球槽,大大的增强小车的控球能力。其次降低了小车的高度,提高了小车的平衡性、灵活性、稳定性。在电路设计部分,本文着重提高了小车电路的响应速度和抗干扰能力,提高了电路的稳定性。更多还原

【Abstract】 The soccer robot system is a multi-robot cooperative system and a typical model of MAS (Multi一Agent System). It involves diverse fields such as computer vision,artifical intelligence,integrated of mechanics and electronic,sensing-technology,wireless communica -ation ,intelligent control and so on. The reseach on soccer robot is becoming a hot point now.The paper is based on the background of Mirosot FIRA soccer-robot game.The focus of research is micro soccer-robot system which bases on the full- vision.The paper’s main tasks are defence strategy of micro soccer-robot and the design of robot-car.The main research tasks are as follow:First, structural characters of MAS is analyzed in this paper. Combining the characters of soccer-robot,a new hybrid architecture agent model is advanced.Then,the model of decision-making system is presented,with the improved fuzzy logic,the paper makes the situation analysis and order choice and assignment allocation come true.Finally,the principles of defence methods,the selection of de defence tactics and defence formation,the selection of defence acti -ion and the decision of defence action etc are expatiated in detial.Second,the design of robot-car,in the mechanical part,the former limitation that only front side could control ball is conquered,a new robot-car which can control ball with two sides is designed.Maki -ng use of the rule,we design two grooves in the front and back of the car which improve the ability of controlling the ball.Its hight is reduced,therefore its stability and flexibility are enhanced. In thecontrolled circuit part the paper focus on improveing its abil -ity of response rate and anti-jarmming,inhancing its stability.更多还原