【作者】 胡凡；

【导师】 符海东；

【作者基本信息】 武汉科技大学 ， 计算机应用技术， 2009， 硕士

【摘要】 机器人足球世界杯赛,是多智能体系统的一个典型问题,又是研究分布式人工智能的理想平台。多智能体学习与协作是当今人工智能领域研究的热点与难点,在动态、复杂、不确定且通信受限的环境中如何进行Agent间的协作是迫切需要解决的问题,而RoboCup比赛正是检验和促进多智能体相关技术发展的有效平台。本文首先介绍了RoboCup 2D仿真系统的组成及设计一个球员客户端需要解决的关键问题,并分析了球员的基本框架。介绍了多智能体的协作策略及其在RoboCup仿真系统中的具体应用。在介绍了常用的多智能体协作模型后,提出基于黑板结构的Agent间的知识共享协作模型,并使用Observer模式进行了实现,最后详细描述了Agent内部维护的世界模型的更新过程。由于球员观察到的信息是局部的,如何高效地完成球员间的信息共享与交换是多智能体协作的基础。黑板模型能在一定程度上实现信息的共享,本文阐述了用基于黑板的协作模型来提高Agent间通信的方法,并重点分析如何用观察者模式实现此协作模型完成信息的共享,从而高效地完成球员间的协作。更多还原

【Abstract】 The RoboCup is a typical issue of multi-agent system (MAS) and the ideal platform of Distributed Artificial Intelligence (DAI) research. The learning and collaboration of agent is difficult and hot in intelligence robot research. The issue of how to carry out the collaboration between agents is need to be solved in a dynamic, complex and uncertain environment with limited communication. The RoboCup is an effective platform to test and promote the development of multi-agent technology.At first, this article introduces the composition of the RoboCup 2D simulation system and the key issue of design a player client, and gives a basic realization of its framework. After this a simple analysis of specific applications of machine learning technology in the RoboCup simulation platform is given. Secondly, collaborative strategy between multi-agent and its application are introduced in RoboCup simulation system. After the introduction of the common collaboration models between multi-agent, the coordination mechanism of knowledge sharing based on the blackboard structure is proposed and realize it with observer pattern.Finally, a detailed description of the update process of world model in agent is given. Because the information got by players is partial, how to effectively implement the exchange of knowledge and experience is a basis of collaboration between agents. Blackboard model can achieve a certain degree of information sharing. This paper introduces a method of using improved blackboard model to strengthen the collaboration among agents. In this paper, the method of using collaborative model of blackboard-based to improve the efficiency of communication between agents is raised.Aiming at achieving communication between agents effectively, this paper presents a complete description of the blackboard model and its application in robot soccer simulation system. Besides using the improved blackboard model to solve the problem of information sharing, a brief overview of how to achieve the model with the observer pattern to complete collaboration is given.更多还原