【作者】 张青；

【导师】 李龙澍；

【作者基本信息】 安徽大学 ， 计算机软件与理论， 2013， 硕士

【摘要】 机器人技术是一项综合性的应用技术,高度交叉了包括人工智能、机械、电子以及自动化控制在内的多门学科,是当代最智能的自动化应用之一。仿人机器人作为真正字面意义上或狭义上的“机器人”更是机器人技术中的一个热点研究方向,代表了机器人学的尖端研究水平。在实际应用中往往有多个机器人同时出现,从而产生的分布式多智能体系统(Multi Agent System)的问题成为我们研究的重点。多智能体之间的协作问题中每个机器人都应有自己的职责,简单有效的对机器人进行动态角色分配才能更好的适应环境的动态变化。而角色选择的一个重要依据就是机器人所处的位置,进而需要能够用受限的视觉在含有噪声的动态环境中准确定位。本文主要研究基于RoboCup3D仿真平台,具体工作如下：1、阐述机器人运动学基础,根据仿人机器人结构对其进行运动学建模,通过正运动学算法给出从机器人关节角度到腿部位姿的求解,同时应用逆运动学解析法将机器人的步行问题转换为关节角度形式。此部分的内容是比赛的基础,也是后面所要研究的内容的基本保证。2、机器人在足球仿真比赛中根据视觉来进行自定位和对其他物体的定位,而视觉模型采用的是局部视觉,为此给出不同情况下的对机器人的定位方法。并针对视觉信息的噪声干扰提出一种基于卡尔曼滤波的改进定位方法,对观测到含有噪声视觉信息去除噪声,从而提高了定位的准确度。3、机器人足球仿真3D已从最初的3对3比赛变成了11对11的比赛,因此,如何更加有效进行球员角色分配和阵型的选择显得尤为重要。此部分给出了球队的阵型排布,为每个球员角色分配专门的职责,并提出一种以动态规划为基础的动态角色分配策略,使得每个球员根据比赛场上的动态变化情况及时做出角色切换,满足比赛的要求。本文将上述工作应用到安徽大学RoboCup3D仿真球队Dream Wing3D中,提高了球队的攻防能力,更好的完成了比赛。更多还原

【Abstract】 Robot technology is a comprehensive application technology, highly involved multiple disciplines like artificial intelligence, machinery, electronics and automatic control, and is the most intelligent automation applications today. Humanoid robot as a real literal sense or in the narrow sense "robot" is a hot research direction that stands for the tip of robotics research level.In practical applications, multiple robots often appeared at the same time, resulting in a distributed multi agent system which has become our research hotspot. Each robot should have their own responsibilities in multi agent system collaboration, and do dynamic role assignment simple and effective for robot to adapt to the dynamic changes of the environment better. And the role selection is gravely based on the robot’s location; therefore the most important problem is accurate localization in limited visual uncertain, noisy and dynamic environment.Based on the simulation platform of RoboCup3D, The specific work this paper studies as follows:1. Elaborate the basis of robot kinematics, do the kinematical modeling based on humanoid robot structure, solve robot joint angle to the leg pose using forward kinematics algorithm, and use inverse kinematics analytic method to converts robot walking problem to joint angles problem. This part is the basic of Robot competition, and the implementation of following content will based on this part.2. In RoboCup simulation game, robots get the positions of their own and the other objects according to vision, but this vision model is a restricted vision model. Thus according to different number of conditions there are different robot localization methods. Aim to visual information noise, proposed an improved localization method based on the Kalman Filter. A prediction method of the position of the robot is given by the analysis of the motion model simulation game, combined with the Kalman Filter theory to get rid of the noise information observed to improve the localization accuracy.After years of development, RoboCup3D simulation game has been more and more close to the human football game form the initial3vs3game into11vs11. Therefore, how to assign the players role and of choose formation more effectively is very important. This part we shows an arrangement of the team’s formation, and assigns special duties to each player, and put forward a dynamic role assignment policy based on dynamic programming, make each player switch their roles timely according to the dynamic changes of the playing condition to meet the requirements of the game.The above work applied to the Anhui University of RoboCup3D simulation team called DreamWing3D, and improved the team’s offensive and defensive capabilities, better completed the competition.更多还原