足球机器人系统控制策略的仿真研究
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摘要
机器人足球比赛是近年来在国际上迅速开展起来的高技术对抗活动，也是一项具有体育竞技魅力的高技术项目。足球机器人的诞生，为智能系统的研究提供了一个很好的理论联系实际的实验平台。同世界各国大多数参赛队一样，在构造硬件环境同时，我们也进行了比赛仿真系统的开发，用系统仿真方法作为研究决策系统的主要方法。
本文主要介绍了足球机器人系统中一些控制策略的设计与仿真研究。首先扼要介绍了足球机器人系统中一些关键控制技术的设计情况，如路径规划方法、针对机器人小车在路径跟踪中出现偏差情况而设计的模糊纠偏控制器、为解决早期足球机器人系统中守门员策略中没有对小球位置进行预测估计而设计的基于神经网络的预测器等；接着介绍了利用面向对象的可视化编程技术为研究策略所需要的仿真平台的设计情况，该部分工作主要包括对现实世界的仿真、比赛场景的动画设计、仿真策略系统的设计以及仿真平台的软件实现情况；最后为了验证所设计控制算法的有效性，在所设计的仿真平台上进行了仿真实验，并对实验结果进行了分析，并在此基础上对全文进行了总结。
With the recent fast development internationally, Robot-Soccer Game is not only a high tech antagonizing activity, but also a high technology item with competitive charm of sports. But the naissance of soccer robot offers a very good platform that theory relates to fact for AI's research.. The same as other teams in the world who often need implode the game's emulator system synchronously or early, we use this way as the primary method to study decision-making system.
The paper mostly introduces some design and simulation research of manipulative strategy in soccer robot system. At first I introduce some design circs of pivotal control technique in soccer robot, such as path-programming methods, a fuzzy correcting controller used in warp for tracking a path, I solve the flaw of early goalie strategy through designing the forecast module based on the NN which forecasts the ball's position in the goalie module; Secondly it is introduced that using visual programme technique of object-oriented to the design of the soccer robot simulation platform for the need of strategy research. It includes simulation of realistic world, cartoon design of game scene, the design of decision-making system and realize software of platform. At last I did the experiment on the platform in order to validate the validity of manipulative arithmetic, the hole text is summarized which base on experiment's analyzing.
本文主要介绍了足球机器人系统中一些控制策略的设计与仿真研究。首先扼要介绍了足球机器人系统中一些关键控制技术的设计情况，如路径规划方法、针对机器人小车在路径跟踪中出现偏差情况而设计的模糊纠偏控制器、为解决早期足球机器人系统中守门员策略中没有对小球位置进行预测估计而设计的基于神经网络的预测器等；接着介绍了利用面向对象的可视化编程技术为研究策略所需要的仿真平台的设计情况，该部分工作主要包括对现实世界的仿真、比赛场景的动画设计、仿真策略系统的设计以及仿真平台的软件实现情况；最后为了验证所设计控制算法的有效性，在所设计的仿真平台上进行了仿真实验，并对实验结果进行了分析，并在此基础上对全文进行了总结。
With the recent fast development internationally, Robot-Soccer Game is not only a high tech antagonizing activity, but also a high technology item with competitive charm of sports. But the naissance of soccer robot offers a very good platform that theory relates to fact for AI's research.. The same as other teams in the world who often need implode the game's emulator system synchronously or early, we use this way as the primary method to study decision-making system.
The paper mostly introduces some design and simulation research of manipulative strategy in soccer robot system. At first I introduce some design circs of pivotal control technique in soccer robot, such as path-programming methods, a fuzzy correcting controller used in warp for tracking a path, I solve the flaw of early goalie strategy through designing the forecast module based on the NN which forecasts the ball's position in the goalie module; Secondly it is introduced that using visual programme technique of object-oriented to the design of the soccer robot simulation platform for the need of strategy research. It includes simulation of realistic world, cartoon design of game scene, the design of decision-making system and realize software of platform. At last I did the experiment on the platform in order to validate the validity of manipulative arithmetic, the hole text is summarized which base on experiment's analyzing.
引文
[1] 蔡自兴．机器人学 北京：清华大学出版社．2000．9：1-21
[2] 刘进长，辛健成．机器人世界．2000：3-7
[3] 精彩有趣的机器人足球赛 http://www.scitomcom.cn/museums/robot/rob401.html
[4] 各个研究项目简介 http://www.nlict.zju.edu.cn/robot/pintro.htm
[5] 关于仿真模拟的有关论述 http://www.osta.org.cn/fangzhen/02.htm
[6] 在培训和鉴定领域推广应用仿真模拟技术的情况综述 http://www.osta.org.cn/fangzhen/04.htm
[7] 蔡自兴．智能控制-基础与应用国防工业出版社 1998．10：26-64
[8] 罗青，吕恬生，费燕琼．足球机器人仿真系统的研究与开发．计算机仿真 1999．10 Vol．16．No．4
[9] Horizon S.Mirosoft.基本类库开发指南．清华大学出版社 1995
[10] J.Borenstein,Y.Koren.Real-time Obstacle avoidance for fast mobile robots.IEEE Trans.Systems Man and Cybernetics,1989,19(5):1179-1187
[11] C.Messom Deterimining offensive and defensive pocession in multi-agent team based competitive games.Proc.Mirosot.Tajon,Korea.1997:71-75
[12] 马明山，何克忠，李相伟．室外移动机器人定位技术的研究．电工技术学报 1998，13(2)43-46
[13] 蔡自兴，徐光佑．人工智能及其运用．北京：清华大学出版社．1996
[14] D.J.Kruglinski,S.grmgo,G.Shepherd.Visual C++技术内幕6.0．北京：希望电子出版社，2000
[15] 诸静．模糊控制原理与应用．机械工业出版社．1995
[16] 涂承宇，涂承媛等 模糊控制理论与实践．地震出版社．1998 19-21
[17] 李士勇．模糊控制·神经控制和智能控制论．哈尔滨工业大学出版社．1998
[18] 张明路等 基于模糊逻辑控制技术的移动机器人路径跟踪中的偏差纠正 机器人 ROBOT.Vol．20．No．6 1998．11 407-411
[19] 汪培庄，立洪兴．模糊系统理论与模糊计算机．科学出版社．1996
[20] 钟义信，潘新安，杨义先．智能理论与技术—人工智能与神经网络．人民邮电出版社．1992
[21] 史忠植．高级人工智能．科学出版社 1998
[22] 俞瑞钊，史济建．人工智能原理与技术．浙江大学出版社．1993
[23] 马颂德，张正友．计算机视觉—计算理论与算法基础．科学出版社．1998．1137-138
[24] Kwun Hall, Manuela Veloso. Physical Model Based Multi-Objects Tracking and Prediction in RoboSoccer. Carnegie Mellon University
[25] 蒋志凯．数字滤波与卡尔曼滤波．1993．3
[26] [英]S·M·鲍齐克．数字滤波和卡尔曼滤波．1984．2
[27] 郑南宁．数字信号处理．西安交通大学出版社 1991．6
[28] 周远清，张再兴等．智能机器人系统．清华大学出版社，1989．8：17-24
[29] 王永骥，涂健．神经元网络控制机械工业出版社 1998．313-316
[30] 舒迪前．预测控制系统及其应用 机械工业出版社 1998．103-105
[31] 袁曾任．人工神经元网络及其应用．清华大学出版社 1999
[32] Manuela Veloso, Peter Stone, Kwun Hah, and Sorin Achim. The CMUnited-97 Small Robot Team. Carnegie Mellon University 1998
[33] 徐湘元，毛宗源．基于神经网络的单值预测控制．华南理工大学学报 Vol．28 No．2 2000．2 87-92
[34] J.-H.Kim, Path planning and role selection mechanism for soccer robots[J]. In: Proc. Of the IEEE Int. Conf. on Robotics and Automation, Leuven, 1998.5:3216-3221
[35] 徐心和．足球机器人六步推理模型研究[J]．机器人足球研讨班论文集 1998，42-46
[36] 麦中凡等，C++程序设计语言教程．北京航空航天大学出版社．1996．1
[37] Xiao, J., Michalewicz, Z., Zhang, L., Trojanowski, K. (1997). Adaptive Evolutionary Planner/Navigator for Mobile Robots, IEEE Transactions on Evolutionary Computation,pp. 18-28, VOL. 1,NO. 1,April 1997.
[38] Domingo Gallardo, Otto Colomina, et al. A Genetic Algorithm for Robust Motion Planning. Departamento de Ciencia de la Computation e Inteligencia Artificial Universidad de Alicante, San Vicente E-03080, Spain
[39] RULES-MIROSOT http://Is1-www.cs.uni-dortmund.de/fira99/regulations
[40] 宛延恺．C++语言和面向对象程序设计．清华大学出版社．1993．6
[41] Robotic Soccor.April 6, 2001-IEEE Region 10:39
[42] Fredrik Heintz, Johan Kummeneje. Using Simulated RoboCup to Teach AI in Undergraduate Education.
[43] Jong-Hwan Kim and Prahlad Vadakkepat. Multi-Agent Systems: A Survey from the Robot-soccer Perspective. http://www.ece.nus.edu.sg/stfpage/elepv/publication
[44] Jong-Hwan Kim, Lecture Notes on Multi-Robot Cooperative System Development,Green Publishing Company, Seoul, Korea, 1998
[45] 车迅，吴敏，陈鑫．足球机器人系统的路径规划方法．自动化理论、技术与应用(第8卷)解放军出版社 2001．261-264．
[46] 陈鑫，吴敏，车迅．足球机器人决策子系统设计与分析．计算技术与自动化．2001．
[47] Klaus Dorer. The magmaFreiburg soccer team. http://www.iig. unifreiburg.de/cognition/members/klaus/robocup/magmaFreiburg.html
[48] 洪炳熔，薄喜柱．机器人足球比赛策略仿真系统的开发[J]．计算机应用研究．1999．3：65-68．
[49] Coradaechi S, Malec J. How to make a challenging AI Course enjoyable using the RoboCup soccer simulation system. In: RoboCup-98:Robot Soccer World Cup Ⅱ.Asada M, Kitano H(Eds.),Berlin: Springer Verlag, 1999:123-128.
[50] R.Feng, X.-D.Liang, X.-H.Xue. Simulation Model of Micro-Robot Soccer System[J].In:Proc. Of the 4th International Symposium on Artificial Life and Robotics, Masanori Sugisaka, Hiroshi Tanaka(Eds.),Japan, 1999.1. Vol.2:666-669.
[2] 刘进长，辛健成．机器人世界．2000：3-7
[3] 精彩有趣的机器人足球赛 http://www.scitomcom.cn/museums/robot/rob401.html
[4] 各个研究项目简介 http://www.nlict.zju.edu.cn/robot/pintro.htm
[5] 关于仿真模拟的有关论述 http://www.osta.org.cn/fangzhen/02.htm
[6] 在培训和鉴定领域推广应用仿真模拟技术的情况综述 http://www.osta.org.cn/fangzhen/04.htm
[7] 蔡自兴．智能控制-基础与应用国防工业出版社 1998．10：26-64
[8] 罗青，吕恬生，费燕琼．足球机器人仿真系统的研究与开发．计算机仿真 1999．10 Vol．16．No．4
[9] Horizon S.Mirosoft.基本类库开发指南．清华大学出版社 1995
[10] J.Borenstein,Y.Koren.Real-time Obstacle avoidance for fast mobile robots.IEEE Trans.Systems Man and Cybernetics,1989,19(5):1179-1187
[11] C.Messom Deterimining offensive and defensive pocession in multi-agent team based competitive games.Proc.Mirosot.Tajon,Korea.1997:71-75
[12] 马明山，何克忠，李相伟．室外移动机器人定位技术的研究．电工技术学报 1998，13(2)43-46
[13] 蔡自兴，徐光佑．人工智能及其运用．北京：清华大学出版社．1996
[14] D.J.Kruglinski,S.grmgo,G.Shepherd.Visual C++技术内幕6.0．北京：希望电子出版社，2000
[15] 诸静．模糊控制原理与应用．机械工业出版社．1995
[16] 涂承宇，涂承媛等 模糊控制理论与实践．地震出版社．1998 19-21
[17] 李士勇．模糊控制·神经控制和智能控制论．哈尔滨工业大学出版社．1998
[18] 张明路等 基于模糊逻辑控制技术的移动机器人路径跟踪中的偏差纠正 机器人 ROBOT.Vol．20．No．6 1998．11 407-411
[19] 汪培庄，立洪兴．模糊系统理论与模糊计算机．科学出版社．1996
[20] 钟义信，潘新安，杨义先．智能理论与技术—人工智能与神经网络．人民邮电出版社．1992
[21] 史忠植．高级人工智能．科学出版社 1998
[22] 俞瑞钊，史济建．人工智能原理与技术．浙江大学出版社．1993
[23] 马颂德，张正友．计算机视觉—计算理论与算法基础．科学出版社．1998．1137-138
[24] Kwun Hall, Manuela Veloso. Physical Model Based Multi-Objects Tracking and Prediction in RoboSoccer. Carnegie Mellon University
[25] 蒋志凯．数字滤波与卡尔曼滤波．1993．3
[26] [英]S·M·鲍齐克．数字滤波和卡尔曼滤波．1984．2
[27] 郑南宁．数字信号处理．西安交通大学出版社 1991．6
[28] 周远清，张再兴等．智能机器人系统．清华大学出版社，1989．8：17-24
[29] 王永骥，涂健．神经元网络控制机械工业出版社 1998．313-316
[30] 舒迪前．预测控制系统及其应用 机械工业出版社 1998．103-105
[31] 袁曾任．人工神经元网络及其应用．清华大学出版社 1999
[32] Manuela Veloso, Peter Stone, Kwun Hah, and Sorin Achim. The CMUnited-97 Small Robot Team. Carnegie Mellon University 1998
[33] 徐湘元，毛宗源．基于神经网络的单值预测控制．华南理工大学学报 Vol．28 No．2 2000．2 87-92
[34] J.-H.Kim, Path planning and role selection mechanism for soccer robots[J]. In: Proc. Of the IEEE Int. Conf. on Robotics and Automation, Leuven, 1998.5:3216-3221
[35] 徐心和．足球机器人六步推理模型研究[J]．机器人足球研讨班论文集 1998，42-46
[36] 麦中凡等，C++程序设计语言教程．北京航空航天大学出版社．1996．1
[37] Xiao, J., Michalewicz, Z., Zhang, L., Trojanowski, K. (1997). Adaptive Evolutionary Planner/Navigator for Mobile Robots, IEEE Transactions on Evolutionary Computation,pp. 18-28, VOL. 1,NO. 1,April 1997.
[38] Domingo Gallardo, Otto Colomina, et al. A Genetic Algorithm for Robust Motion Planning. Departamento de Ciencia de la Computation e Inteligencia Artificial Universidad de Alicante, San Vicente E-03080, Spain
[39] RULES-MIROSOT http://Is1-www.cs.uni-dortmund.de/fira99/regulations
[40] 宛延恺．C++语言和面向对象程序设计．清华大学出版社．1993．6
[41] Robotic Soccor.April 6, 2001-IEEE Region 10:39
[42] Fredrik Heintz, Johan Kummeneje. Using Simulated RoboCup to Teach AI in Undergraduate Education.
[43] Jong-Hwan Kim and Prahlad Vadakkepat. Multi-Agent Systems: A Survey from the Robot-soccer Perspective. http://www.ece.nus.edu.sg/stfpage/elepv/publication
[44] Jong-Hwan Kim, Lecture Notes on Multi-Robot Cooperative System Development,Green Publishing Company, Seoul, Korea, 1998
[45] 车迅，吴敏，陈鑫．足球机器人系统的路径规划方法．自动化理论、技术与应用(第8卷)解放军出版社 2001．261-264．
[46] 陈鑫，吴敏，车迅．足球机器人决策子系统设计与分析．计算技术与自动化．2001．
[47] Klaus Dorer. The magmaFreiburg soccer team. http://www.iig. unifreiburg.de/cognition/members/klaus/robocup/magmaFreiburg.html
[48] 洪炳熔，薄喜柱．机器人足球比赛策略仿真系统的开发[J]．计算机应用研究．1999．3：65-68．
[49] Coradaechi S, Malec J. How to make a challenging AI Course enjoyable using the RoboCup soccer simulation system. In: RoboCup-98:Robot Soccer World Cup Ⅱ.Asada M, Kitano H(Eds.),Berlin: Springer Verlag, 1999:123-128.
[50] R.Feng, X.-D.Liang, X.-H.Xue. Simulation Model of Micro-Robot Soccer System[J].In:Proc. Of the 4th International Symposium on Artificial Life and Robotics, Masanori Sugisaka, Hiroshi Tanaka(Eds.),Japan, 1999.1. Vol.2:666-669.