小型足球机器人系统的实时控制及决策规划研究与实验
|
摘要
多机器人系统是在多学科综合的基础上得到发展,涉及到计算机、通信、控制、智能机器人、多传感器及信息融合、视觉及图像处理、人工智能和仿生等相关学科。目前研究多机器人系统的单位与学者在逐年增加,多机器人系统研究水平和研究领域也在不断发展。
本文构建了以小型足球机器人系统为对象的多机器人系统研究平台,并在此平台上进行了理论研究、仿真验证及比赛实践,主要取得了以下创新性的研究成果:
1.提出了计算动词理论结合区域搜索方法解决小型足球机器人系统的实时图像信息获取问题,对机器人标识进行模板匹配和相似度的求解,将计算动词分解为行动词和列动词减轻系统的计算量,尤其研究了光照不均匀情况下难以识别的问题,提高了图像信息的准确性、稳定性,为路径规划等研究打下了基础。
2.将卡尔曼滤波与人工神经网络理论用于小型足球机器人与球的位置预测,可以避开复杂的小型足球机器人建模过程,通过预先采集的输入、输出数据,预测出小型足球机器人的运动轨迹,为小型足球机器人的路径规划和系统决策提供了重要的支撑。
3.在对小型足球机器人进行基本运动轨迹规划的基础上,提出了以Delaunay三角形网格理论指导的优化路径规划,用关键点及其姿态简化对路径的优化思想,使小型足球机器人运动规划能快速找到较优化的路径。
4.提出了将蒙特卡洛理论应用于小型足球机器人系统上,实现系统的增强学习功能,包括个体能力学习和总体策略学习功能,实现了多个小型足球机器人的动态角色分配,避免了运行时的相互冲突,取得了良好配合的效果。
5.研究并运用多传感器和数据融合理论,综合解决了小型足球机器人系统中遇到的小型足球机器人运动的直线校正、运动避障、运动正确性判断、“受伤球员”的智能判断等许多实际问题。
以上研究成果已应用在上海大学小型足球机器人系统上,进行了实验室试验,并在国际国内RoboCup机器人足球赛事上,取得了2004--2007年RoboCup中国赛连续进入4强以及2007、2008年蝉联伊朗机器人(国际)公开赛冠军的成绩。
The development of collaborative multi-robot systems is multi-disciplinary, involving computer science, communication, control theory, intelligent robots, multi-sensor technology, information fusion, computer vision, bionics, artificial intelligence, etc. Today, the number of scholars and researchers who study collaborative multi-robot systems is increasing rapidly. The research level and scope of collaborative multi-robot systems are also continuously increasing.
In this thesis, small-size robot soccer competition has been as a research platform to conduct the fundamental research, simulation verification and practice competition of a collaborative multi-robot system.
The major contributions of the thesis include:
1. The computation verb theory is combined with the region reconnaissance method to solve the difficulty associated with real-time image acquisition in the small-size soccer robot system. Through matching robot marks, resolving similarity, and decomposing computation verb into a‘low verb’and a‘column verb’, the real-time system computation, as well as the accuracy and stability of image information acquisition under the non-uniform illumination condition are greatly improved, laid a solid foundation for path planning research.
2. Based on the study of motion trajectory of small size soccer competition, the Delaunay triangle grid is used to optimise path scheduling. The key points and their simplified postures are adopted to optimize the robot path so that the small-size robots are able to plan their paths with a high degree of system stability and fast speeds.
3. The Extended Kalman-Bucy Filter and the RPF neural network are used in small-size soccer robots and their position prediction so that the complexity of modelling small size soccer robots is greatly reduced. Through the pre-collected input and output data, motion trajectories of small size soccer robots are predicted. This provides an important foundation of path planning and system decision of small size soccer robots.
4. The Monte-Carlo theory is applied to the small-size robot soccer system to study its reinforcement learning, including the overall strategy learning and the individual ability learning. As a result, it has realized many small soccer robot dynamic role assignments, avoided the movement mutual conflict, and obtained the good coordinate effect.
5. Data fusion theory is investigated to solve many practical problems, such as The straight line adjusts, the movement evades bonds, the movement accuracy judgment, the intelligent judgment of“injured player”in the multi-robot system comprehensively based on the foundation of the multi-sensor system.
The research results in this thesis have applied to the small-size robot system of Shanghai University, including many laboratory experiments, participations of many domestic and international robot-soccer competitions. The team continuous entered top 4 in 2004-2007 RoboCup China, became the league champion in 2007 RoboCup Iran Open, as well as the league champion in 2008 RoboCup Iran Open.
本文构建了以小型足球机器人系统为对象的多机器人系统研究平台,并在此平台上进行了理论研究、仿真验证及比赛实践,主要取得了以下创新性的研究成果:
1.提出了计算动词理论结合区域搜索方法解决小型足球机器人系统的实时图像信息获取问题,对机器人标识进行模板匹配和相似度的求解,将计算动词分解为行动词和列动词减轻系统的计算量,尤其研究了光照不均匀情况下难以识别的问题,提高了图像信息的准确性、稳定性,为路径规划等研究打下了基础。
2.将卡尔曼滤波与人工神经网络理论用于小型足球机器人与球的位置预测,可以避开复杂的小型足球机器人建模过程,通过预先采集的输入、输出数据,预测出小型足球机器人的运动轨迹,为小型足球机器人的路径规划和系统决策提供了重要的支撑。
3.在对小型足球机器人进行基本运动轨迹规划的基础上,提出了以Delaunay三角形网格理论指导的优化路径规划,用关键点及其姿态简化对路径的优化思想,使小型足球机器人运动规划能快速找到较优化的路径。
4.提出了将蒙特卡洛理论应用于小型足球机器人系统上,实现系统的增强学习功能,包括个体能力学习和总体策略学习功能,实现了多个小型足球机器人的动态角色分配,避免了运行时的相互冲突,取得了良好配合的效果。
5.研究并运用多传感器和数据融合理论,综合解决了小型足球机器人系统中遇到的小型足球机器人运动的直线校正、运动避障、运动正确性判断、“受伤球员”的智能判断等许多实际问题。
以上研究成果已应用在上海大学小型足球机器人系统上,进行了实验室试验,并在国际国内RoboCup机器人足球赛事上,取得了2004--2007年RoboCup中国赛连续进入4强以及2007、2008年蝉联伊朗机器人(国际)公开赛冠军的成绩。
The development of collaborative multi-robot systems is multi-disciplinary, involving computer science, communication, control theory, intelligent robots, multi-sensor technology, information fusion, computer vision, bionics, artificial intelligence, etc. Today, the number of scholars and researchers who study collaborative multi-robot systems is increasing rapidly. The research level and scope of collaborative multi-robot systems are also continuously increasing.
In this thesis, small-size robot soccer competition has been as a research platform to conduct the fundamental research, simulation verification and practice competition of a collaborative multi-robot system.
The major contributions of the thesis include:
1. The computation verb theory is combined with the region reconnaissance method to solve the difficulty associated with real-time image acquisition in the small-size soccer robot system. Through matching robot marks, resolving similarity, and decomposing computation verb into a‘low verb’and a‘column verb’, the real-time system computation, as well as the accuracy and stability of image information acquisition under the non-uniform illumination condition are greatly improved, laid a solid foundation for path planning research.
2. Based on the study of motion trajectory of small size soccer competition, the Delaunay triangle grid is used to optimise path scheduling. The key points and their simplified postures are adopted to optimize the robot path so that the small-size robots are able to plan their paths with a high degree of system stability and fast speeds.
3. The Extended Kalman-Bucy Filter and the RPF neural network are used in small-size soccer robots and their position prediction so that the complexity of modelling small size soccer robots is greatly reduced. Through the pre-collected input and output data, motion trajectories of small size soccer robots are predicted. This provides an important foundation of path planning and system decision of small size soccer robots.
4. The Monte-Carlo theory is applied to the small-size robot soccer system to study its reinforcement learning, including the overall strategy learning and the individual ability learning. As a result, it has realized many small soccer robot dynamic role assignments, avoided the movement mutual conflict, and obtained the good coordinate effect.
5. Data fusion theory is investigated to solve many practical problems, such as The straight line adjusts, the movement evades bonds, the movement accuracy judgment, the intelligent judgment of“injured player”in the multi-robot system comprehensively based on the foundation of the multi-sensor system.
The research results in this thesis have applied to the small-size robot system of Shanghai University, including many laboratory experiments, participations of many domestic and international robot-soccer competitions. The team continuous entered top 4 in 2004-2007 RoboCup China, became the league champion in 2007 RoboCup Iran Open, as well as the league champion in 2008 RoboCup Iran Open.
引文
[1] Wang Ying, De Silva, Clarence W., Assess team Q-learning algorithm in a purely cooperative multi-robot task[C], Proceedings of the ASME International Mechanical Engineering Congress and Exposition, IMECE 2008, pp. 627-633.
[2] Linan Jiao, Zhenmin Tang, A visibility-based algorithm for multi-robot boundary coverage[J], International Journal of Advanced Robotic Systems, v 5, n 1, March, 2008, pp. 63-68.
[3] Jong-Hwan Kim, Prahlad Vadakkepat, Multi-Agent Systems: A Survey from the Robot-soccer Perspective [C], Int. J. Intelligent Automation and Soft Computing, 2000, vol. 6(1), pp.3~17.
[4] Fang Tang, Parker L.E., A Complete Methodology for Generating Multi-Robot Task Solutions using ASyMTRe-D and Market-Based Task Allocation [C], Robotics and Automation, 2007 IEEE International Conference on 10-14 April 2007 pp.3351– 3358.
[5] Hongmo Je, Daijin Kim, Bayesian Multidimensional Scaling for Multi-Robot Localization [C], Networking, Sensing and Control, ICNSC 2008. 6-8 April 2008 On pp. 926– 931.
[6] JiunDe Wu, Yocichi Hori, An Intersample Predictor Control Scheme Based on Multirate GPC for High-Speed Tracking Tasks[C], Industrial Electronics society, 2003, vol. 2, pp.1355~1360.
[7] Yu Zhou, Jindong Tan, Deployment of multi-robot systems under the nonholonomic constraint[C], Advanced Intelligent Mechatronics, AIM 2008. 2-5 July 2008 On pp. 389– 394.
[8] Xin Ma, Qin Zhang, Yibin Li, Genetic Algorithm-based Multi-robot Cooperative Exploration[C], Control and Automation, ICCA 2007. May 30 2007-June 1 2007 On pp. 1018– 1023.
[9] Pugh J., Martinoli A., Inspiring and Modeling Multi-Robot Search with Particle Swarm Optimization[C], Swarm Intelligence Symposium, SIS 2007. 1-5 April 2007 On pp.332– 339.
[10] Mosteo.A.R., Montano.L., Lagoudakis.M.G., Multi-robot routing under limited communication range[C], Robotics and Automation, 2008. ICRA 2008. 19-23 May 2008 On pp. 1531– 1536.
[11] Wang Ying, de Silva, Clarence W., A machine-learning approach to multi-robot coordination[J], Engineering Applications of Artificial Intelligence, v 21, n 3, April, 2008, pp.470-484.
[12]高志军,颜国正,丁国清等,多机器人协调与合作系统的研究现状和发展[J],光学精密工程,Vol.9 No.2,2001,pp.99-103.
[13] A. Fujimori, et al, Navigation of Multiple Mobile Robots with Cooperative Collision Avoidance [C], In IFAC 14th Triennial World Congress, Beijing, 1999,pp. 107~112.
[14] Stefano Carpin, Enrico Pagello, On Parallel RRTs for Multi-robot Systems [C], Proceedings of the 8th conference of the Italian Association for Artificial Intelligence, 2002.
[15] Li Xiang, Wang Yuechao, Behavior selection and coordination of the internet-based multi-robot teleoperation system by a neural group network approach[C], IEEE International Conference on Robotics and Biomimetics, ROBIO, 2008, pp. 37-42.
[16] Zhao Yan, Bai Liang, Gordon Brandon W., Distributed simulation and virtual reality visualization of multi-robot distributed receding horizon control systems[C], IEEE International Conference on Robotics and Biomimetics, ROBIO, 2008, pp.1290-1295.
[17] SungOog Shin, JungOog Lee, DooKwon Baik, A mobile agent-based multi-robot design method for high-assurance[C], Proceedings - 10th IEEE International Symposium on High Assurance Systems Engineering, HASE 2007, 2007, pp.389-390.
[18] De La Cruz Celso, Carelli Ricardo, Dynamic model based formation control and obstacle avoidance of multi-robot systems[J], Robotica, v 26, n 3, May, 2008, pp. 345-356.
[19] Rooker Martijn N., Birk Andreas, Multi-robot exploration under the constraints of wireless networking[J], Control Engineering Practice, v 15, n 4, March, 2007, pp. 435-445.
[20] Katsura Seiichiro, Ohishi Kiyoshi, Advanced task realization of multi-robot systems by interaction mode control[J], IEEJ Transactions on Industry Applications, v 127, n 6, 2007, pp.554-562+2.
[21] Kaminka Gal A., Frenkel Inna, Integration of coordination mechanisms in the BITE multi-robot architecture[C], Proceedings-2007 IEEE International Conference on Robotics and Automation, ICRA'07, 2007, pp. 2859-2866.
[22] Pan Q.W., Lowe D., Search and rescue robot team RF communication via power cable transmission line - A proposal[C], Conference Proceedings of the International Symposium on Signals, Systems and Electronics, URSI ISSSE 2007, 2007, pp.287-290.
[23] Viguria Antidio, Maza Ivan, Ollero Anibal, SET: An algorithm for distributed multirobot task allocation with dynamic negotiation based on task subsets[C], Proceedings - IEEE International Conference on Robotics and Automation, ICRA'07, 2007, pp.3339-3344.
[24] Rigatos Gerasimos G., Distributed gradient and particle swarm optimization for multi-robot motion planning[J], Robotica, v 26, n 3, May, 2008, pp.357-370.
[25] J Pugh, A Martinoli, Inspiring and Modeling Multi-Robot Search with Particle Swarm Optimization [C], Proceedings of the 4th IEEE Swarm Intelligence Symposium, Honolulu, Hawaii, USA, April 1-5, 2007. USA: IEEE, 2007.
[26]曹志强,张斌,谭民,多移动机器人系统个体控制体系结构[J],机器人,2001,Vol.23 No.5,pp.450-454.
[27]范永,谭民,MRCS中机器人控制体系框架结构[J],控制与决策,2000,Vol.15 No.3, pp.325-328.
[28] Michael Bowling, Manuela Veloso, Motion Control in Dynamic Multi-Robot Environments [J], Computer Science Department,Carnegie Mellon University.
[29] Y.U.Cao, A.S.Fukunaga, A.B.Kahng, F.Meng, Cooperative Mobile Robotics: Antecedents and Directions[C], Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 1995, vol.1 pp.226-234.
[30] Iijima D.,Yu W.,Yokoi H., Obstacle Avoidance Learning for a Multi-Agent Linked Robot in the Real World[C], Proceedings of the 2001 IEEE International Confer- ence on Robotics and Automation(vol.1). pp.523~528.
[31] Markus Dietl, Bernhard Nebel, Cooperative Sensing in Dynamic Environments[C], Proceedings of IEEE International Conference on Intelligent Robots and Systems, 2001.
[32]薛宏涛等,方兴未艾的多智能体机器人技术[J],机器人技术与应用,2001.3.
[33] Caloud, P., Wonyun Choi, Latombe J.-C., Le Pape, C., Yim, M., Indoor Automation With Many Mobile Robots[J], IEEE Int. Workshop on Intelligent Robots and Systems, 1990, vol.1 pp.67-72
[34] L. E. Parker, ALLIANCE: An architecture for fault tolerant, cooperative control of heterogeneous mobile robots[C], in Proc. IEEE/RSJ Int.Conf. Intelligent Robots and Systems (IROS), 1994, pp. 776–783.
[35] L.E. Parker, ALLIANCE: An Architecture for Fault Tolerant Multirobot Cooperation[J], IEEE Trans. on Robotics and Automation, 1998, Vol.14 No.2, pp.220-240.
[36] R. A. Brooks, A robust layered control system for a mobile robot[J], IEEE J. Robotics and Automation, 1986, vol. RA–2, pp. 14–23.
[37] F.R. Noreils, Toward a robot architecture integrating cooperation between mobile robots: Application to indoor environment[J], Int. J. Robotics Research, Vol.12 No.1, 1993, pp.79-98.
[38] Y.U. Cao, A.S. Fukunaga, A.B. Kahng, F. Meng, Cooperative Mobile Robotics: Antecedents and Directions[C], Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 1995, vol.1pp. 226-234.
[39]赵忆文,谈大龙,多移动机器人合作系统中的单机控制体系结构研究,机器人[J],1999,Vol.21 No.6,pp. 421-425.
[40] M.E. Bratman, Intentions, Plans, and Practical Reason[M], Havard University Press: Cambridge, MA, 1987.
[41] B.P. Gerkey, M.J. Mataric, Sold!: Auction Methods for Multirobot Coordination[J], IEEE Trans. on Robotics and Automation, Vol.18, No.5, 2002, pp.758-768.
[42] K. Azarm, G. Schmidt, A decentralized Approach for the Conflict-Free Motion of Multiple Mobile Robots[C], Proc. IROS’96, pp. 1667-1675.
[43]张毅,罗元等,移动机器人技术及其应用[M],电子工业出版社,2007.9.
[44] C. Li, Z.Q. Zheng, W.S. Chang, A decentralized approach to the conflict-free motion planning for multiple mobile robots[C], Proc. IEEE Int. Conf. on Robotics and Automation, 1999, vol.2 1pp.544–1549.
[45] Y. Arai, S. Suzuki, S. Kotosaka et al. Collision Avoidance among Multiple Autonomous Mobile Robots using LOCISS[C], Proc. of IEEE Int. Conf. on Robotics and Automation, 1996, pp.2091-2096.
[46] H. Hiraishi, H. Ohwada, F. Mizoguchi, Web-based Communication and Control for Multiagent Robots[C], IEEE IROS’98, pp.120-125
[47] T. Fujii, Y. Arai, H. Asama et al. Multilayered Reinforcement Learning for complicated Collision Avoidance Problems[C], Proc. of IEEE Int. Conf. on Robotics and Automation, 1998, pp.2185-2191.
[48] Song, K.T., Tang C.C., Learning for Cooperation in Multirobot Team Competitions[C], Proc. 2001 IEEE Int. Sym. on Computational Intelligence in Robotics and Automation, 2001, pp.302-307.
[49] Kim C.Ng, Moban M. Trivedi, A Neuro-Fuzzy Controller for Mobile Robot Navigation and Multirobot Convoying[J], IEEE Trans on Systems Man and Cybernetics, 1998, Vol.28 No.6, pp.829-840.
[50] H. Yamaguchi, A Cooperative Hunting Behavior by Mobile Robot Troops[C], Proc. IEEE Int. Conf. on Robotics and Automation, 1998, pp.3204-3209.
[51] T. Balch, R.C. Arkin, Behavior-Based Formation Control for Multirobot Teams[J], IEEE Trans on Robotics and automation, Vol.14 No.6, 1998,pp.926-939.
[52] Q. Chen, J. Y. S. Luh, Coordination and control of a group of small mobile robots[C], in Proc. IEEE Int. Conf. on Robotics and Automation, 1994, pp. 2315-2320.
[53]谭民等,多机器人系统[M],清华大学出版社,2005.4.
[54] C.W. Warren, Multiple Robot Path Coordination Using Artificial Potential Fields[C], Proc. of IEEE Int. Conference on Robotics and Automation, 1990, pp. 500-505.
[55] C. Fischer, M. Buss, G. Schmidt, Hierarchical Supervisory Control of ServiceRobot Using Human-Robot Interface[C], Proc. of IROS’96, 1996, pp.1408-1416.
[56] A.Lee T.H., Lam H.K., Leung F.H.F., A Fast Path Planning-and-Tracking Control for Wheeled Mobile Robots[C], Proceedings of the 2001 IEEE International Confer- ence on Robotics and Automation(vol.2).pp.1736~1741.
[57] Jong-Hwan Kim, Hyun-Sik Shim, Myung-Jin Jung, Cooperative Multi-agent Robotic Systems [C], The Robot-soccer Perspective, Proc. of the Second Micro-Robot World Cup Soccer Tournament (MiroSot'97), KA1ST Taejon, Korea, June 1997, pp.3~14.
[58]冯建农,柳明.自主移动机器人智能导航研究进展[J].机器人, 1997, VOL. 19(6), PP.468~473.
[59] Mackworth A. On seeing robots. in: Computer Vision: Systems, theory, and applications[J]. World Scientific, Singapore, 1992.
[60] http://www.rcccaa.org (中国自动化学会机器人竞赛工作委员会网站).
[61] http://www.sipedi.cn/SIPEDI/showinfo/showinfo.aspx?infoid=2a7f355a-ab70-4871-b5cc-de7240dfeaeb&categoryNum=002001. (2008中国苏州ROBOCUP机器人世界杯官方网站)
[62]覃柯,孙茂相,孙昌志,动态环境下基于改进人工势场法的机器人运动规划[J],沈阳工业大学学报, 2004, vol.26(5), pp.568~571, 582.
[63]吴朋娟,徐心和,基于遗传算法的足球机器人比赛中障碍回避策略的设计[J],机器人, 2001, vol.23(2), pp.142~145.
[64]王磊,唐华斌,孙增圻,多机器人系统形成联合协作的综合评价算法[J],清华大学学报(自然科学版), Vo l. 45, No. 4,2005.
[65]王磊、孙增圻,基于行为的对手意图识别与对策决策[J],控制理论与应用,2004增刊.
[66] Chaumette F., Image Moments: A General and Useful Set of Features for Visual Servoing[J] ,IEEE Transactions on Robotics and Automation.—2004 ,20(4).pp.713~723.
[67]安成万,张永谦,李桂芝,基于分量直方图的移动机器人视觉图像自适应分割[J],机器人. Vol.26, No.6, 2004.
[68]柳长安,刘春阳,马秋茂,基于区域划分的动态目标跟踪算法[J],高技术通讯. Vol. 14,No. 10,2004.
[69] Zhang H., Ostrowski J.P., Visual Motion Planning for Mobile Robots[J], IEEE Transactions on Robotics and Automation.—2002,18(2) pp.199~208.
[70] http://small-size.informatik.uni-bremen.de/rules:main.
[71]徐心和,郝丽娜,丛德宏,机器人原理与应用[M],东北大学音像出版社,2004.9.
[72]张冰,陈万米,梁亮,魏延钦,基于OPENGL的ROBOCUP小型组机器人足球仿真平台设计[J],系统仿真学报,2008年2月.
[73]罗青,吕恬生,费燕琼,足球机器人仿真系统的研究与开发[J],计算机仿真, 1999, vol.16(4), pp.27~30.
[74] Christopoulos Dimitrios, Jeff Molofee. Collision Detection and Physically Based Modeling Tutorial [EB/OL], http: //nehe.gamedev.net.
[75]张正波,牟彦,黄华,刘波, OPENGL实现3ds文件中的模型自由旋转[J].计算机工程与应用, 2005, vol.41(13), pp.98~100.
[76]马新武,赵国群,王广春,用虚拟球实现交互式OpenGL 3D图形的旋转[J].计算机应用, 2001, vol.21(8), pp.169~170.
[77] Terence J. Grant, Jeff Molofee. ArcBall Rotation Control [EB/OL]. http: //nehe.gamedev.net.
[78]徐晓军,李建华,王孙安,基于OPENGL足球机器人仿真平台数学模型及实现[J],计算机仿真, 2004, vol.21(10), pp.194~196.
[79]冈萨雷斯,数字图像处理[M],电子工业出版社,2006.4.
[80]阮秋琦,数字图像处理学[M],电子工业出版社,2004.2.
[81] Wanmi Chen,Zhibing Xie, Minrui Fei, Research on Majorization Strategies of Vision System of RoboCup[C], ICIA 2004,Hefei,China.
[82]陈万米,蒋征波,费敏锐,RoboCup视觉系统中图像搜索的优化算法研究[J],控制理论与应用,2004年增刊. pp.41-45.
[83]王建波,胡泓,图象模板匹配技术在探针台系统中的应用[J],计算机与信息技术,2006年增刊.
[84] Tao Yang, Applications of Computational Verbs to Digital Image Processing[J],INTERNATIONAL JOURNAL OF COMPUTATIONAL COGNITION , (HTTP://WWW.YANGSKY.COM/YANGIJCC.HTM), VOL. 3, NO. 2, SEPTEMBER 2005.
[85] T.Yang, Computational Verb Theory: From Engineering, Dynamic Systems to Physical Linguistics[J], volume 2 of YangSky.com Monographs inInformation Sciences.Yang’s Scientific Research Institute, Tucson, AZ, Oct. 2002. ISBN: 0-9721212-1-8.
[86] Wanmic Chen, Yanqin Wei, Minrui Fei, Huosheng Hu, Applications of Computational Verbs to Image Processing of RoboCup Small-Size Robots[M], LNCIS, Springer, 2006,Kunming,China.pp.494-499
[87]朱磊、费敏锐,基于计算动词理论的RoboCup对手建模[J],控制理论与应用,2004增刊.
[88]王文学,王强,孙萍,卡尔曼滤波在机器人足球比赛系统中的应用[J],机器人, 2006, vol.28(4), pp.410~414.
[89]王红宝,赵臣,足球机器人比赛中的一种位置滤波方法[J],机床与液压, 2005(4), pp.142~143, 155.
[90] Dongbing Gu, Huosheng Hu, Neural Predictive Control for a Car-like Mobile Robot [J], Robotics and Autonomous Systems, 2002(39), pp.73~86.
[91] Alexander Gloye, Mark Simon, Predicting Away Robot Control Latency [EB/OL], http://www.fu-fighter.de.
[92]谷东兵,胡豁生,移动机器人的运动预测控制[J],仪器仪表学报, 2000, vol. 21(2), pp.155~158.
[93]冯清海,袁万城, BP神经网络和RBF神经网络在墩柱抗震性能评估中的比较研究[J],结构工程师, 2007, vol. 23(5), pp.41~47, 69.
[94]郭剑虹, BP和RBF网络的结构动力响应预测对比[J],淮海工学院学报(自然科学版), 2007, vol. 16(2), pp.66~69.
[95]智会强,牛坤,田亮,杨增军, BP网络和RBF网络在函数逼近邻域内的比较研究[J],科技通报, 2005, vol. 21(2), pp.193~197.
[96]胡洁, BP和RBF神经网络短时交通流预测结果[J],比较长江大学学报(自然科学版)理工卷, 2007, vol. 4(3), pp.74~76.
[97] Kalman, R. E., A New Approach to Linear Filtering and Prediction Problems [J], Transaction of the ASME—Journal of Basic Engineering, 1960, pp.35~45.
[98] Welch, G., Bishop, G., An Introduction to the Kalman Filter, TR95-041 [R], Department of Computer Science, University of North Carolina, NC, USA, 2001.
[99] Powell M J D., Radial Basis Function for Multivariable Interpolation: A Review [C], Proceedings of IMA Conference on Algorithms for the Approximation of Functions and Data. Shrivenham UK, 1985, pp.143~167.
[100] Broomhead D S, Lowe D., Multivariable Function Interpolation and Adaptive Networks [J], Complex Systems, 1988, vol. 2, pp.321~355.
[101] Moodynad, C. Darken, Fast Learning in Networks of Locally-tuned Processing Units [J], Neural Computation, 1989, vol. l, pp.281~294.
[102] S. Chen, S. A. Bilings, C. F. N. Cowan, P. M. Grant., Non-linear Systems Identification Using Radial Basis Functions [J], International Journal of Systems Science, 1990, vol. 21, pp.2513~2539.
[103] S. Chen, S. A. Bilings, C. F. N. Cowan, P. M. Grant., Practical Identification ofNARMAR models Using Radial Basis Functions [J], International Journal of Control, 1990, vol. 52, pp.1327~1350.
[104] T. Holcomb, M. Morari., Local Training for Radial Basis Function Networks: Towards Solving the Hidden Unit Problem [J], American Control Conference, 1993, pp.2331~2335.
[105] S. Chen, S. A. Bilings, P. M. Grant., Recursive Hybrid Algorithm for Non-linear System Identification Using Radial Basis Function Networks [J], Int. J. Control, vol. 55(5), pp.1051~1070.
[106]张纯刚,席裕庚,动态未知环境中移动机器人的滚动路径规划[J],机器人. Vol. 24,No. 1,2002.
[107]刘春阳,柳长安,吴克河,足球机器人的防守策略设计与分析[J],哈尔滨工业大学学报,Vol136 No17,July , 2004.
[108]张承,马辰威,韩光胜,机器人足球决策及角色分配系统[J],哈尔滨工业大学学报,Vol136,No17,July , 2004.
[109]刘新宇,洪炳镕,基于强化学习的足球机器人协作策略研究[J],高技术通讯,Vol14,No10,2004.
[110] S.S.GE, Y.J.CUI, Dynamic Motion Planning for Mobile Robots Using Potential Field Method [J], Autonomous Robots, 2002(13), pp.207~222.
[111]黄鹏,杨鹏,杨毅,基于动态人工势场法的足球机器人运动规划[C], Fira2003论文集, pp.166~169.
[112]高云峰,黄海,复杂环境下基于势场原理的路径规划方法[J],机器人, 2004 (3), pp.114~118.
[113]张培艳,吕恬生,基于模拟退火-人工势场法的足球机器人路径规划研究[J],机械科学与技术, 2003(4), pp.547~548, 555.
[114]张琪,杨宜民,基于改进势场的足球机器人避碰控制[J],机器人, 2002 (1), pp.12~15.
[115] Arkin R C., Motor Schema Based Mobile Robot Navigation [J], The International Journal of Robotics Research, 1989, vol. 8(4), pp.92~112.
[116] Saridis G., Toward the Realization of Intelligent Controls [C], Proceedings of the IEEE, 1979, vol. 67(8), pp.1115~1133.
[117]鄢波,颜国正,基于遗传算法的相贯线扫描机器人轨迹规划[J],系统工程与电子技术Vol. 27 No. 5,2005.
[118]符海东,王中伟,陈建勋,一种基于势场理论的机器人足球决策系统的研究[J],武汉科技大学学报(自然科学版),Vol. 28,No. 1 Mar. 2005.
[119]张祺,杨宜民,基于改进人工势场法的足球机器人避碰控制[J],机器人, Vol. 24,No. 1, 2002.
[120] Mediavilla M., González J.L., Fraile J.C., ON-LINE MOTION PLANNING FOR ROBOTIC ARMS: NEW APPROACH BASED ON THE REDUCTION OF THE SEARCH SPACE[J], Robotica.—2002,20(4).pp.375~384.
[121]桥本浩一,田中浩平,则次俊郎,图像平面中的路径规划,日本ロボット学会学术讲演会予稿集[C]., 2000,18(2).pp.885~886.
[122]周浦城,洪炳镕,杨敬辉,基于混沌遗传算法的移动机器人路径规划方法[J],哈尔滨工业大学学报.,Vol36,No7,2004.
[123] Miura J., Shirai Y., Paralle1in:ing Planning and Action of a Mobile Robot Based on Planning-Action Consistency[C], Proceedings of the 2001 IEEE International Confer- ence on Robotics and Automation(vol.2).pp.1750~1756.
[124]杨敬辉,洪炳镕,朴松昊,基于遗传模糊算法的机器人局部避障规划[J],哈尔滨工业大学学报, Vol36,No7,2004.
[125]吴文清,刘嘉焜,崔世钢,机器人避开多随机障碍物的路径规划方法[J],计算机工程与应用. Vol40,No11,2004.
[126] M.Asada, T.Tanaka, K.Hosoda. Adaptive binocular visual servoing for independently moving target tracking[C], In: IEEE International Conference on Robotics and Automation, IEEE Press, san Francisco: 2000,3(0) pp.2076-2081.
[127] Alberto Broggi,Claudio Caraffi,Rean Isabella Fedriga,Paolo Grisleri. Obstacle detection with stereo vision for off-road vehicle navigation[C], Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition,San Diego, 2005 pp.65-73.
[128] Smith R., Self M., Chesseman P., Estimating Uncertain Spatial Relationships in Robotics[C], Proceedings of Conference on Uncertainty in Artificial Intelligence, 1988; 2 pp.435-461.
[129] JiunDe Wu, Yocichi Hori, An Intersample Predictor Control Scheme Based on Multirate GPC for High-Speed Tracking Tasks[C], Industrial Electronics society, 2003, vol. 2, pp.1355~1360.
[130]洪炳熔,薄喜柱,机器人足球比赛策略仿真系统开发[J],计算机应用研究, 1999, vol.16(3), pp.65~68.
[131] O. Khatib, Real-Time Obstacle Avoidance for Manipulators and Mobile Robots [J], The International journal of Robotics Research, 1986, vol. 5(1), pp.90~98.
[132]李磊,叶涛,谭民,移动机器人技术研究现状与未来[J],机器人, 2002, vol.24(5), pp.475~480.
[133]任世军,黄德海,一种基于栅格扩展的机器人路径规划方法[J],哈尔滨工业大学学报, 2001, vol.33(1), pp.68~72,
[134]薄喜柱,洪炳熔,动态环境下多移动机器人路径规划的一种新方法[J],机器人, 2001, vol.23(S), pp.407~410.
[135]朴松昊,洪炳熔,一种动态环境下移动机器人的路径规划方法[J],机器人, 2003, vol.25(1), pp.18~21, 43.
[136]段俊花,李孝安,基于改进遗传算法的机器人路径规划[J],微电子学与计算机, 2005, vol.22(1), pp.70~72, 76.
[137] S. M. La Valle, Rapidly-exploring Random Trees: A New Tool for Path Planning [R], Computer Science Dept., Iowa State University. Oct. 1998.
[138] Bruce. J, Veloso, M., Real-Time Randomized Path Planning for Robot Navigation [C], International Conference on Intelligent Robots and System 2002. IEEE/RSJ. 2002, vol.3, pp.2383~2388.
[139] Anna Atramentov, Steven M. La Valle, fficient Nearest Neighbor Searching for Motion Planning [C],IEEE Int'l Conf. on Robot. and Autom., 2002, pp.632~637.
[140] Y. Koren, J. Borenstein, otential Field Methods and Their Inherent Limitations for Mobile Robot Navigation [C], Proc. of the IEEE Conference on Robotics and Automation, Sacramento, 1991, pp.1398~1404.
[141] Jacky Baltes, Nicholas Hildreth, Adaptive Path Planner for Highly Dynamic Environments[J], Centre for Image Technology and Robotics University of Auckland,Auckland New Zealand.
[142] Yasunori NAGASAKA, Kazuhito MURAKAMI, Tadashi NARUSE, Tomoichi TAKAHASHI and Yasuo MORI[J], Potential Field Approach to Short Term Action Planning in RoboCup F180 League , Japan.
[143] M. Ferraresso, C. Ferrari, E. Pagello, R. Polesel, R. Rosati, A. Speranzon, W. Zanette, Peter Stone, Tucker Balch, and Gerhard Kraetszchmar (eds.). Collaborative Emergent Actions Between Real Soccer Robots[M]. "RoboCup-2000: Robot Soccer World Cup IV " Springer-Verlag, Berlin, 2001. pp.297~302.
[144] Arturo L. Rankin, Carl D., Crane III., A Multi-Purpose Off-Line Path Planner Based on An A* Search Algorithm. Proceeding of the 1996 ASME Design Engineering Technical Conference and Computers in Engineering Conference, Irvine, California, 1996, pp. 1~10.
[145] M. Ferraresso, C. Ferrari, E. Pagello, R. Polesel, R. Rosati, A. Speranzon, W.Zanette, Peter Stone, Tucker Balch, and Gerhard Kraetszchmar (eds.). Collaborative Emergent Actions Between Real Soccer Robots[M]. "RoboCup-2000: Robot Soccer World Cup IV " Springer-Verlag, Berlin, 2001. PP.297~302.
[146] Jacky Baltes, Nicholas Hildreth, Adaptive path planning for highly dynamic environments. In RoboCup 00[M], Springer Verlag, 2001.
[147] Manuela Veloso, Michael Bowling, Sorin Achim, The CMUnited-99 Small Robot Team[C], RoboCup-99 Team Description, Small Robots League, 1999, pp.24~3.
[148] Angela Davids, Urban Search and Rescue Robots: From Tragedy to Technology[J], IEEE. Intelligent systems,Vol.17, Issue 2, 2002.
[149]孙增圻,智能控制理论与技术[M],清华大学出版社,1996.
[150]王小平,曹立明,遗传算法—理论、应用与软件实现[M],西安交通大学出版社,2003.
[151]刘金琨,机器人控制系统的设计与Matlab仿真[M],清华大学出版社,2008.6.
[152] M. Ferraresso, C. Ferrari, E. Pagello, R. Polesel, R. Rosati, A. Speranzon, W. Zanette , Peter Stone, Tucker Balch, and Gerhard Kraetszchmar (eds.). Collaborative Emergent Actions Between Real Soccer Robots[M]. "RoboCup-2000: Robot Soccer World Cup IV " Springer-Verlag, Berlin, 2001. PP.297~302.
[153] Jacky Baltes, Nicholas Hildreth, Adaptive path planning for highly dynamic environments[M], In RoboCup 00. Springer Verlag, 2001.
[154] Waston D F., Computing the n-Dimensional Delaunay Tessellation with Application to Voronoi Polytops[J], The Computer Journal, 1981,24 (2).
[155] Manuela Veloso, Michael Bowling, Sorin Achim, The CMUnited-99 Small Robot Team[C], RoboCup-99 Team Description, Small Robots League, 1999, pp.24~32.
[156]周其方,陈万米,费敏锐,基于Delaunay三角形网格的RoboCup路径规划算法研究[J],系统仿真学报,2004.6.pp.1158-1161
[157]康耀红,数据融合理论与应用[M],西安电子科技大学出版社,1997.
[158]陈万米,费敏锐,数据融合在机器人足球比赛决策中的应用[M],中国人工智能进展(2003),北京邮电大学出版社.
[159]瞿继双等,基于数据融合的遥感图象处理技术[J],中国图象图形学报,Vol.7,No.10,Oct., 2002.
[160]王培珍等,基于融合技术的螺纹钢打捆端面图像分割方案探讨[J],安徽工业大学学报,Vol.20, No.1, Jan., 2003.
[161] Markus Dietl and Bernhard Nebel, Cooperative Sensing in Dynamic Environments[C], Proceedings of IEEE International Conference on Intelligebt Robots and Systems, 2001.
[162]王培珍等,基于融合技术的螺纹钢打捆端面图像分割方案探讨[J],安徽工业大学学报,Vol.20, No.1, Jan., 2003.
[163]王文学等,足球机器人系统结构与关键技术研究[J],控制与决策,Vol.16, No.2, Mar., 2001.
[164] Bo Zhang etc, An Agent Team for RoboCup Simulator League[C], Proceedings of the 3nd World Congress on Intelligent Control and Automation , June 28-July 2, 2000.
[165] Xuming Xu etc, A Survey: RoboCup and the Resesrch[C], Proceedings of the 3nd World Congress on Intelligent Control and Automation, June 28-July 2, 2000.
[166]罗志增等,机器人感觉与多信息融合[M],机械工业出版社,2002年6月,北京.
[167] Jerome DOURET etc, Localization of robots in F180 League using projective geometry[C], The 2002 Intenational RoboCup Symposium Pre-Proceedings, June24-25,2002.
[168]徐毅等,数据融合研究的回顾与展望[J],信息与控制,Vol.17,No.3,Jun.,2002.
[169]吴陈等,数据融合系统的模型化和形式化研究[J],华东船舶工业学院学报,Vol.15, No.3, 2000.
[170] James Bruce, Tucker Balch and Manuela Veloso. Fast and Inexpensive Color Image Segmentation for Interactive Robots[C], In Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2000, pp. 2061-2066.
[171]黄瑛等,多传感器数据融合系统的软件实现[J],传感器技术,Vol.31, No.6, 1998.
[172]高德平等,多传感器和数据融合[J],红外与激光工程,Vol.28, No.1, Feb., 1999;Vol.28, No.2, Apr., 1999.
[173] Bing Zhang , Wanmi Chen , Minrui Fei, An Optimized Method for Path Planning Based on Artificial Potential Field[C]. ISDA 2006 Jinan, Shandong,China.pp.35-39
[174]易继锴,侯媛彬编著,智能控制技术[M],北京工业大学出版社,1999.
[2] Linan Jiao, Zhenmin Tang, A visibility-based algorithm for multi-robot boundary coverage[J], International Journal of Advanced Robotic Systems, v 5, n 1, March, 2008, pp. 63-68.
[3] Jong-Hwan Kim, Prahlad Vadakkepat, Multi-Agent Systems: A Survey from the Robot-soccer Perspective [C], Int. J. Intelligent Automation and Soft Computing, 2000, vol. 6(1), pp.3~17.
[4] Fang Tang, Parker L.E., A Complete Methodology for Generating Multi-Robot Task Solutions using ASyMTRe-D and Market-Based Task Allocation [C], Robotics and Automation, 2007 IEEE International Conference on 10-14 April 2007 pp.3351– 3358.
[5] Hongmo Je, Daijin Kim, Bayesian Multidimensional Scaling for Multi-Robot Localization [C], Networking, Sensing and Control, ICNSC 2008. 6-8 April 2008 On pp. 926– 931.
[6] JiunDe Wu, Yocichi Hori, An Intersample Predictor Control Scheme Based on Multirate GPC for High-Speed Tracking Tasks[C], Industrial Electronics society, 2003, vol. 2, pp.1355~1360.
[7] Yu Zhou, Jindong Tan, Deployment of multi-robot systems under the nonholonomic constraint[C], Advanced Intelligent Mechatronics, AIM 2008. 2-5 July 2008 On pp. 389– 394.
[8] Xin Ma, Qin Zhang, Yibin Li, Genetic Algorithm-based Multi-robot Cooperative Exploration[C], Control and Automation, ICCA 2007. May 30 2007-June 1 2007 On pp. 1018– 1023.
[9] Pugh J., Martinoli A., Inspiring and Modeling Multi-Robot Search with Particle Swarm Optimization[C], Swarm Intelligence Symposium, SIS 2007. 1-5 April 2007 On pp.332– 339.
[10] Mosteo.A.R., Montano.L., Lagoudakis.M.G., Multi-robot routing under limited communication range[C], Robotics and Automation, 2008. ICRA 2008. 19-23 May 2008 On pp. 1531– 1536.
[11] Wang Ying, de Silva, Clarence W., A machine-learning approach to multi-robot coordination[J], Engineering Applications of Artificial Intelligence, v 21, n 3, April, 2008, pp.470-484.
[12]高志军,颜国正,丁国清等,多机器人协调与合作系统的研究现状和发展[J],光学精密工程,Vol.9 No.2,2001,pp.99-103.
[13] A. Fujimori, et al, Navigation of Multiple Mobile Robots with Cooperative Collision Avoidance [C], In IFAC 14th Triennial World Congress, Beijing, 1999,pp. 107~112.
[14] Stefano Carpin, Enrico Pagello, On Parallel RRTs for Multi-robot Systems [C], Proceedings of the 8th conference of the Italian Association for Artificial Intelligence, 2002.
[15] Li Xiang, Wang Yuechao, Behavior selection and coordination of the internet-based multi-robot teleoperation system by a neural group network approach[C], IEEE International Conference on Robotics and Biomimetics, ROBIO, 2008, pp. 37-42.
[16] Zhao Yan, Bai Liang, Gordon Brandon W., Distributed simulation and virtual reality visualization of multi-robot distributed receding horizon control systems[C], IEEE International Conference on Robotics and Biomimetics, ROBIO, 2008, pp.1290-1295.
[17] SungOog Shin, JungOog Lee, DooKwon Baik, A mobile agent-based multi-robot design method for high-assurance[C], Proceedings - 10th IEEE International Symposium on High Assurance Systems Engineering, HASE 2007, 2007, pp.389-390.
[18] De La Cruz Celso, Carelli Ricardo, Dynamic model based formation control and obstacle avoidance of multi-robot systems[J], Robotica, v 26, n 3, May, 2008, pp. 345-356.
[19] Rooker Martijn N., Birk Andreas, Multi-robot exploration under the constraints of wireless networking[J], Control Engineering Practice, v 15, n 4, March, 2007, pp. 435-445.
[20] Katsura Seiichiro, Ohishi Kiyoshi, Advanced task realization of multi-robot systems by interaction mode control[J], IEEJ Transactions on Industry Applications, v 127, n 6, 2007, pp.554-562+2.
[21] Kaminka Gal A., Frenkel Inna, Integration of coordination mechanisms in the BITE multi-robot architecture[C], Proceedings-2007 IEEE International Conference on Robotics and Automation, ICRA'07, 2007, pp. 2859-2866.
[22] Pan Q.W., Lowe D., Search and rescue robot team RF communication via power cable transmission line - A proposal[C], Conference Proceedings of the International Symposium on Signals, Systems and Electronics, URSI ISSSE 2007, 2007, pp.287-290.
[23] Viguria Antidio, Maza Ivan, Ollero Anibal, SET: An algorithm for distributed multirobot task allocation with dynamic negotiation based on task subsets[C], Proceedings - IEEE International Conference on Robotics and Automation, ICRA'07, 2007, pp.3339-3344.
[24] Rigatos Gerasimos G., Distributed gradient and particle swarm optimization for multi-robot motion planning[J], Robotica, v 26, n 3, May, 2008, pp.357-370.
[25] J Pugh, A Martinoli, Inspiring and Modeling Multi-Robot Search with Particle Swarm Optimization [C], Proceedings of the 4th IEEE Swarm Intelligence Symposium, Honolulu, Hawaii, USA, April 1-5, 2007. USA: IEEE, 2007.
[26]曹志强,张斌,谭民,多移动机器人系统个体控制体系结构[J],机器人,2001,Vol.23 No.5,pp.450-454.
[27]范永,谭民,MRCS中机器人控制体系框架结构[J],控制与决策,2000,Vol.15 No.3, pp.325-328.
[28] Michael Bowling, Manuela Veloso, Motion Control in Dynamic Multi-Robot Environments [J], Computer Science Department,Carnegie Mellon University.
[29] Y.U.Cao, A.S.Fukunaga, A.B.Kahng, F.Meng, Cooperative Mobile Robotics: Antecedents and Directions[C], Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 1995, vol.1 pp.226-234.
[30] Iijima D.,Yu W.,Yokoi H., Obstacle Avoidance Learning for a Multi-Agent Linked Robot in the Real World[C], Proceedings of the 2001 IEEE International Confer- ence on Robotics and Automation(vol.1). pp.523~528.
[31] Markus Dietl, Bernhard Nebel, Cooperative Sensing in Dynamic Environments[C], Proceedings of IEEE International Conference on Intelligent Robots and Systems, 2001.
[32]薛宏涛等,方兴未艾的多智能体机器人技术[J],机器人技术与应用,2001.3.
[33] Caloud, P., Wonyun Choi, Latombe J.-C., Le Pape, C., Yim, M., Indoor Automation With Many Mobile Robots[J], IEEE Int. Workshop on Intelligent Robots and Systems, 1990, vol.1 pp.67-72
[34] L. E. Parker, ALLIANCE: An architecture for fault tolerant, cooperative control of heterogeneous mobile robots[C], in Proc. IEEE/RSJ Int.Conf. Intelligent Robots and Systems (IROS), 1994, pp. 776–783.
[35] L.E. Parker, ALLIANCE: An Architecture for Fault Tolerant Multirobot Cooperation[J], IEEE Trans. on Robotics and Automation, 1998, Vol.14 No.2, pp.220-240.
[36] R. A. Brooks, A robust layered control system for a mobile robot[J], IEEE J. Robotics and Automation, 1986, vol. RA–2, pp. 14–23.
[37] F.R. Noreils, Toward a robot architecture integrating cooperation between mobile robots: Application to indoor environment[J], Int. J. Robotics Research, Vol.12 No.1, 1993, pp.79-98.
[38] Y.U. Cao, A.S. Fukunaga, A.B. Kahng, F. Meng, Cooperative Mobile Robotics: Antecedents and Directions[C], Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 1995, vol.1pp. 226-234.
[39]赵忆文,谈大龙,多移动机器人合作系统中的单机控制体系结构研究,机器人[J],1999,Vol.21 No.6,pp. 421-425.
[40] M.E. Bratman, Intentions, Plans, and Practical Reason[M], Havard University Press: Cambridge, MA, 1987.
[41] B.P. Gerkey, M.J. Mataric, Sold!: Auction Methods for Multirobot Coordination[J], IEEE Trans. on Robotics and Automation, Vol.18, No.5, 2002, pp.758-768.
[42] K. Azarm, G. Schmidt, A decentralized Approach for the Conflict-Free Motion of Multiple Mobile Robots[C], Proc. IROS’96, pp. 1667-1675.
[43]张毅,罗元等,移动机器人技术及其应用[M],电子工业出版社,2007.9.
[44] C. Li, Z.Q. Zheng, W.S. Chang, A decentralized approach to the conflict-free motion planning for multiple mobile robots[C], Proc. IEEE Int. Conf. on Robotics and Automation, 1999, vol.2 1pp.544–1549.
[45] Y. Arai, S. Suzuki, S. Kotosaka et al. Collision Avoidance among Multiple Autonomous Mobile Robots using LOCISS[C], Proc. of IEEE Int. Conf. on Robotics and Automation, 1996, pp.2091-2096.
[46] H. Hiraishi, H. Ohwada, F. Mizoguchi, Web-based Communication and Control for Multiagent Robots[C], IEEE IROS’98, pp.120-125
[47] T. Fujii, Y. Arai, H. Asama et al. Multilayered Reinforcement Learning for complicated Collision Avoidance Problems[C], Proc. of IEEE Int. Conf. on Robotics and Automation, 1998, pp.2185-2191.
[48] Song, K.T., Tang C.C., Learning for Cooperation in Multirobot Team Competitions[C], Proc. 2001 IEEE Int. Sym. on Computational Intelligence in Robotics and Automation, 2001, pp.302-307.
[49] Kim C.Ng, Moban M. Trivedi, A Neuro-Fuzzy Controller for Mobile Robot Navigation and Multirobot Convoying[J], IEEE Trans on Systems Man and Cybernetics, 1998, Vol.28 No.6, pp.829-840.
[50] H. Yamaguchi, A Cooperative Hunting Behavior by Mobile Robot Troops[C], Proc. IEEE Int. Conf. on Robotics and Automation, 1998, pp.3204-3209.
[51] T. Balch, R.C. Arkin, Behavior-Based Formation Control for Multirobot Teams[J], IEEE Trans on Robotics and automation, Vol.14 No.6, 1998,pp.926-939.
[52] Q. Chen, J. Y. S. Luh, Coordination and control of a group of small mobile robots[C], in Proc. IEEE Int. Conf. on Robotics and Automation, 1994, pp. 2315-2320.
[53]谭民等,多机器人系统[M],清华大学出版社,2005.4.
[54] C.W. Warren, Multiple Robot Path Coordination Using Artificial Potential Fields[C], Proc. of IEEE Int. Conference on Robotics and Automation, 1990, pp. 500-505.
[55] C. Fischer, M. Buss, G. Schmidt, Hierarchical Supervisory Control of ServiceRobot Using Human-Robot Interface[C], Proc. of IROS’96, 1996, pp.1408-1416.
[56] A.Lee T.H., Lam H.K., Leung F.H.F., A Fast Path Planning-and-Tracking Control for Wheeled Mobile Robots[C], Proceedings of the 2001 IEEE International Confer- ence on Robotics and Automation(vol.2).pp.1736~1741.
[57] Jong-Hwan Kim, Hyun-Sik Shim, Myung-Jin Jung, Cooperative Multi-agent Robotic Systems [C], The Robot-soccer Perspective, Proc. of the Second Micro-Robot World Cup Soccer Tournament (MiroSot'97), KA1ST Taejon, Korea, June 1997, pp.3~14.
[58]冯建农,柳明.自主移动机器人智能导航研究进展[J].机器人, 1997, VOL. 19(6), PP.468~473.
[59] Mackworth A. On seeing robots. in: Computer Vision: Systems, theory, and applications[J]. World Scientific, Singapore, 1992.
[60] http://www.rcccaa.org (中国自动化学会机器人竞赛工作委员会网站).
[61] http://www.sipedi.cn/SIPEDI/showinfo/showinfo.aspx?infoid=2a7f355a-ab70-4871-b5cc-de7240dfeaeb&categoryNum=002001. (2008中国苏州ROBOCUP机器人世界杯官方网站)
[62]覃柯,孙茂相,孙昌志,动态环境下基于改进人工势场法的机器人运动规划[J],沈阳工业大学学报, 2004, vol.26(5), pp.568~571, 582.
[63]吴朋娟,徐心和,基于遗传算法的足球机器人比赛中障碍回避策略的设计[J],机器人, 2001, vol.23(2), pp.142~145.
[64]王磊,唐华斌,孙增圻,多机器人系统形成联合协作的综合评价算法[J],清华大学学报(自然科学版), Vo l. 45, No. 4,2005.
[65]王磊、孙增圻,基于行为的对手意图识别与对策决策[J],控制理论与应用,2004增刊.
[66] Chaumette F., Image Moments: A General and Useful Set of Features for Visual Servoing[J] ,IEEE Transactions on Robotics and Automation.—2004 ,20(4).pp.713~723.
[67]安成万,张永谦,李桂芝,基于分量直方图的移动机器人视觉图像自适应分割[J],机器人. Vol.26, No.6, 2004.
[68]柳长安,刘春阳,马秋茂,基于区域划分的动态目标跟踪算法[J],高技术通讯. Vol. 14,No. 10,2004.
[69] Zhang H., Ostrowski J.P., Visual Motion Planning for Mobile Robots[J], IEEE Transactions on Robotics and Automation.—2002,18(2) pp.199~208.
[70] http://small-size.informatik.uni-bremen.de/rules:main.
[71]徐心和,郝丽娜,丛德宏,机器人原理与应用[M],东北大学音像出版社,2004.9.
[72]张冰,陈万米,梁亮,魏延钦,基于OPENGL的ROBOCUP小型组机器人足球仿真平台设计[J],系统仿真学报,2008年2月.
[73]罗青,吕恬生,费燕琼,足球机器人仿真系统的研究与开发[J],计算机仿真, 1999, vol.16(4), pp.27~30.
[74] Christopoulos Dimitrios, Jeff Molofee. Collision Detection and Physically Based Modeling Tutorial [EB/OL], http: //nehe.gamedev.net.
[75]张正波,牟彦,黄华,刘波, OPENGL实现3ds文件中的模型自由旋转[J].计算机工程与应用, 2005, vol.41(13), pp.98~100.
[76]马新武,赵国群,王广春,用虚拟球实现交互式OpenGL 3D图形的旋转[J].计算机应用, 2001, vol.21(8), pp.169~170.
[77] Terence J. Grant, Jeff Molofee. ArcBall Rotation Control [EB/OL]. http: //nehe.gamedev.net.
[78]徐晓军,李建华,王孙安,基于OPENGL足球机器人仿真平台数学模型及实现[J],计算机仿真, 2004, vol.21(10), pp.194~196.
[79]冈萨雷斯,数字图像处理[M],电子工业出版社,2006.4.
[80]阮秋琦,数字图像处理学[M],电子工业出版社,2004.2.
[81] Wanmi Chen,Zhibing Xie, Minrui Fei, Research on Majorization Strategies of Vision System of RoboCup[C], ICIA 2004,Hefei,China.
[82]陈万米,蒋征波,费敏锐,RoboCup视觉系统中图像搜索的优化算法研究[J],控制理论与应用,2004年增刊. pp.41-45.
[83]王建波,胡泓,图象模板匹配技术在探针台系统中的应用[J],计算机与信息技术,2006年增刊.
[84] Tao Yang, Applications of Computational Verbs to Digital Image Processing[J],INTERNATIONAL JOURNAL OF COMPUTATIONAL COGNITION , (HTTP://WWW.YANGSKY.COM/YANGIJCC.HTM), VOL. 3, NO. 2, SEPTEMBER 2005.
[85] T.Yang, Computational Verb Theory: From Engineering, Dynamic Systems to Physical Linguistics[J], volume 2 of YangSky.com Monographs inInformation Sciences.Yang’s Scientific Research Institute, Tucson, AZ, Oct. 2002. ISBN: 0-9721212-1-8.
[86] Wanmic Chen, Yanqin Wei, Minrui Fei, Huosheng Hu, Applications of Computational Verbs to Image Processing of RoboCup Small-Size Robots[M], LNCIS, Springer, 2006,Kunming,China.pp.494-499
[87]朱磊、费敏锐,基于计算动词理论的RoboCup对手建模[J],控制理论与应用,2004增刊.
[88]王文学,王强,孙萍,卡尔曼滤波在机器人足球比赛系统中的应用[J],机器人, 2006, vol.28(4), pp.410~414.
[89]王红宝,赵臣,足球机器人比赛中的一种位置滤波方法[J],机床与液压, 2005(4), pp.142~143, 155.
[90] Dongbing Gu, Huosheng Hu, Neural Predictive Control for a Car-like Mobile Robot [J], Robotics and Autonomous Systems, 2002(39), pp.73~86.
[91] Alexander Gloye, Mark Simon, Predicting Away Robot Control Latency [EB/OL], http://www.fu-fighter.de.
[92]谷东兵,胡豁生,移动机器人的运动预测控制[J],仪器仪表学报, 2000, vol. 21(2), pp.155~158.
[93]冯清海,袁万城, BP神经网络和RBF神经网络在墩柱抗震性能评估中的比较研究[J],结构工程师, 2007, vol. 23(5), pp.41~47, 69.
[94]郭剑虹, BP和RBF网络的结构动力响应预测对比[J],淮海工学院学报(自然科学版), 2007, vol. 16(2), pp.66~69.
[95]智会强,牛坤,田亮,杨增军, BP网络和RBF网络在函数逼近邻域内的比较研究[J],科技通报, 2005, vol. 21(2), pp.193~197.
[96]胡洁, BP和RBF神经网络短时交通流预测结果[J],比较长江大学学报(自然科学版)理工卷, 2007, vol. 4(3), pp.74~76.
[97] Kalman, R. E., A New Approach to Linear Filtering and Prediction Problems [J], Transaction of the ASME—Journal of Basic Engineering, 1960, pp.35~45.
[98] Welch, G., Bishop, G., An Introduction to the Kalman Filter, TR95-041 [R], Department of Computer Science, University of North Carolina, NC, USA, 2001.
[99] Powell M J D., Radial Basis Function for Multivariable Interpolation: A Review [C], Proceedings of IMA Conference on Algorithms for the Approximation of Functions and Data. Shrivenham UK, 1985, pp.143~167.
[100] Broomhead D S, Lowe D., Multivariable Function Interpolation and Adaptive Networks [J], Complex Systems, 1988, vol. 2, pp.321~355.
[101] Moodynad, C. Darken, Fast Learning in Networks of Locally-tuned Processing Units [J], Neural Computation, 1989, vol. l, pp.281~294.
[102] S. Chen, S. A. Bilings, C. F. N. Cowan, P. M. Grant., Non-linear Systems Identification Using Radial Basis Functions [J], International Journal of Systems Science, 1990, vol. 21, pp.2513~2539.
[103] S. Chen, S. A. Bilings, C. F. N. Cowan, P. M. Grant., Practical Identification ofNARMAR models Using Radial Basis Functions [J], International Journal of Control, 1990, vol. 52, pp.1327~1350.
[104] T. Holcomb, M. Morari., Local Training for Radial Basis Function Networks: Towards Solving the Hidden Unit Problem [J], American Control Conference, 1993, pp.2331~2335.
[105] S. Chen, S. A. Bilings, P. M. Grant., Recursive Hybrid Algorithm for Non-linear System Identification Using Radial Basis Function Networks [J], Int. J. Control, vol. 55(5), pp.1051~1070.
[106]张纯刚,席裕庚,动态未知环境中移动机器人的滚动路径规划[J],机器人. Vol. 24,No. 1,2002.
[107]刘春阳,柳长安,吴克河,足球机器人的防守策略设计与分析[J],哈尔滨工业大学学报,Vol136 No17,July , 2004.
[108]张承,马辰威,韩光胜,机器人足球决策及角色分配系统[J],哈尔滨工业大学学报,Vol136,No17,July , 2004.
[109]刘新宇,洪炳镕,基于强化学习的足球机器人协作策略研究[J],高技术通讯,Vol14,No10,2004.
[110] S.S.GE, Y.J.CUI, Dynamic Motion Planning for Mobile Robots Using Potential Field Method [J], Autonomous Robots, 2002(13), pp.207~222.
[111]黄鹏,杨鹏,杨毅,基于动态人工势场法的足球机器人运动规划[C], Fira2003论文集, pp.166~169.
[112]高云峰,黄海,复杂环境下基于势场原理的路径规划方法[J],机器人, 2004 (3), pp.114~118.
[113]张培艳,吕恬生,基于模拟退火-人工势场法的足球机器人路径规划研究[J],机械科学与技术, 2003(4), pp.547~548, 555.
[114]张琪,杨宜民,基于改进势场的足球机器人避碰控制[J],机器人, 2002 (1), pp.12~15.
[115] Arkin R C., Motor Schema Based Mobile Robot Navigation [J], The International Journal of Robotics Research, 1989, vol. 8(4), pp.92~112.
[116] Saridis G., Toward the Realization of Intelligent Controls [C], Proceedings of the IEEE, 1979, vol. 67(8), pp.1115~1133.
[117]鄢波,颜国正,基于遗传算法的相贯线扫描机器人轨迹规划[J],系统工程与电子技术Vol. 27 No. 5,2005.
[118]符海东,王中伟,陈建勋,一种基于势场理论的机器人足球决策系统的研究[J],武汉科技大学学报(自然科学版),Vol. 28,No. 1 Mar. 2005.
[119]张祺,杨宜民,基于改进人工势场法的足球机器人避碰控制[J],机器人, Vol. 24,No. 1, 2002.
[120] Mediavilla M., González J.L., Fraile J.C., ON-LINE MOTION PLANNING FOR ROBOTIC ARMS: NEW APPROACH BASED ON THE REDUCTION OF THE SEARCH SPACE[J], Robotica.—2002,20(4).pp.375~384.
[121]桥本浩一,田中浩平,则次俊郎,图像平面中的路径规划,日本ロボット学会学术讲演会予稿集[C]., 2000,18(2).pp.885~886.
[122]周浦城,洪炳镕,杨敬辉,基于混沌遗传算法的移动机器人路径规划方法[J],哈尔滨工业大学学报.,Vol36,No7,2004.
[123] Miura J., Shirai Y., Paralle1in:ing Planning and Action of a Mobile Robot Based on Planning-Action Consistency[C], Proceedings of the 2001 IEEE International Confer- ence on Robotics and Automation(vol.2).pp.1750~1756.
[124]杨敬辉,洪炳镕,朴松昊,基于遗传模糊算法的机器人局部避障规划[J],哈尔滨工业大学学报, Vol36,No7,2004.
[125]吴文清,刘嘉焜,崔世钢,机器人避开多随机障碍物的路径规划方法[J],计算机工程与应用. Vol40,No11,2004.
[126] M.Asada, T.Tanaka, K.Hosoda. Adaptive binocular visual servoing for independently moving target tracking[C], In: IEEE International Conference on Robotics and Automation, IEEE Press, san Francisco: 2000,3(0) pp.2076-2081.
[127] Alberto Broggi,Claudio Caraffi,Rean Isabella Fedriga,Paolo Grisleri. Obstacle detection with stereo vision for off-road vehicle navigation[C], Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition,San Diego, 2005 pp.65-73.
[128] Smith R., Self M., Chesseman P., Estimating Uncertain Spatial Relationships in Robotics[C], Proceedings of Conference on Uncertainty in Artificial Intelligence, 1988; 2 pp.435-461.
[129] JiunDe Wu, Yocichi Hori, An Intersample Predictor Control Scheme Based on Multirate GPC for High-Speed Tracking Tasks[C], Industrial Electronics society, 2003, vol. 2, pp.1355~1360.
[130]洪炳熔,薄喜柱,机器人足球比赛策略仿真系统开发[J],计算机应用研究, 1999, vol.16(3), pp.65~68.
[131] O. Khatib, Real-Time Obstacle Avoidance for Manipulators and Mobile Robots [J], The International journal of Robotics Research, 1986, vol. 5(1), pp.90~98.
[132]李磊,叶涛,谭民,移动机器人技术研究现状与未来[J],机器人, 2002, vol.24(5), pp.475~480.
[133]任世军,黄德海,一种基于栅格扩展的机器人路径规划方法[J],哈尔滨工业大学学报, 2001, vol.33(1), pp.68~72,
[134]薄喜柱,洪炳熔,动态环境下多移动机器人路径规划的一种新方法[J],机器人, 2001, vol.23(S), pp.407~410.
[135]朴松昊,洪炳熔,一种动态环境下移动机器人的路径规划方法[J],机器人, 2003, vol.25(1), pp.18~21, 43.
[136]段俊花,李孝安,基于改进遗传算法的机器人路径规划[J],微电子学与计算机, 2005, vol.22(1), pp.70~72, 76.
[137] S. M. La Valle, Rapidly-exploring Random Trees: A New Tool for Path Planning [R], Computer Science Dept., Iowa State University. Oct. 1998.
[138] Bruce. J, Veloso, M., Real-Time Randomized Path Planning for Robot Navigation [C], International Conference on Intelligent Robots and System 2002. IEEE/RSJ. 2002, vol.3, pp.2383~2388.
[139] Anna Atramentov, Steven M. La Valle, fficient Nearest Neighbor Searching for Motion Planning [C],IEEE Int'l Conf. on Robot. and Autom., 2002, pp.632~637.
[140] Y. Koren, J. Borenstein, otential Field Methods and Their Inherent Limitations for Mobile Robot Navigation [C], Proc. of the IEEE Conference on Robotics and Automation, Sacramento, 1991, pp.1398~1404.
[141] Jacky Baltes, Nicholas Hildreth, Adaptive Path Planner for Highly Dynamic Environments[J], Centre for Image Technology and Robotics University of Auckland,Auckland New Zealand.
[142] Yasunori NAGASAKA, Kazuhito MURAKAMI, Tadashi NARUSE, Tomoichi TAKAHASHI and Yasuo MORI[J], Potential Field Approach to Short Term Action Planning in RoboCup F180 League , Japan.
[143] M. Ferraresso, C. Ferrari, E. Pagello, R. Polesel, R. Rosati, A. Speranzon, W. Zanette, Peter Stone, Tucker Balch, and Gerhard Kraetszchmar (eds.). Collaborative Emergent Actions Between Real Soccer Robots[M]. "RoboCup-2000: Robot Soccer World Cup IV " Springer-Verlag, Berlin, 2001. pp.297~302.
[144] Arturo L. Rankin, Carl D., Crane III., A Multi-Purpose Off-Line Path Planner Based on An A* Search Algorithm. Proceeding of the 1996 ASME Design Engineering Technical Conference and Computers in Engineering Conference, Irvine, California, 1996, pp. 1~10.
[145] M. Ferraresso, C. Ferrari, E. Pagello, R. Polesel, R. Rosati, A. Speranzon, W.Zanette, Peter Stone, Tucker Balch, and Gerhard Kraetszchmar (eds.). Collaborative Emergent Actions Between Real Soccer Robots[M]. "RoboCup-2000: Robot Soccer World Cup IV " Springer-Verlag, Berlin, 2001. PP.297~302.
[146] Jacky Baltes, Nicholas Hildreth, Adaptive path planning for highly dynamic environments. In RoboCup 00[M], Springer Verlag, 2001.
[147] Manuela Veloso, Michael Bowling, Sorin Achim, The CMUnited-99 Small Robot Team[C], RoboCup-99 Team Description, Small Robots League, 1999, pp.24~3.
[148] Angela Davids, Urban Search and Rescue Robots: From Tragedy to Technology[J], IEEE. Intelligent systems,Vol.17, Issue 2, 2002.
[149]孙增圻,智能控制理论与技术[M],清华大学出版社,1996.
[150]王小平,曹立明,遗传算法—理论、应用与软件实现[M],西安交通大学出版社,2003.
[151]刘金琨,机器人控制系统的设计与Matlab仿真[M],清华大学出版社,2008.6.
[152] M. Ferraresso, C. Ferrari, E. Pagello, R. Polesel, R. Rosati, A. Speranzon, W. Zanette , Peter Stone, Tucker Balch, and Gerhard Kraetszchmar (eds.). Collaborative Emergent Actions Between Real Soccer Robots[M]. "RoboCup-2000: Robot Soccer World Cup IV " Springer-Verlag, Berlin, 2001. PP.297~302.
[153] Jacky Baltes, Nicholas Hildreth, Adaptive path planning for highly dynamic environments[M], In RoboCup 00. Springer Verlag, 2001.
[154] Waston D F., Computing the n-Dimensional Delaunay Tessellation with Application to Voronoi Polytops[J], The Computer Journal, 1981,24 (2).
[155] Manuela Veloso, Michael Bowling, Sorin Achim, The CMUnited-99 Small Robot Team[C], RoboCup-99 Team Description, Small Robots League, 1999, pp.24~32.
[156]周其方,陈万米,费敏锐,基于Delaunay三角形网格的RoboCup路径规划算法研究[J],系统仿真学报,2004.6.pp.1158-1161
[157]康耀红,数据融合理论与应用[M],西安电子科技大学出版社,1997.
[158]陈万米,费敏锐,数据融合在机器人足球比赛决策中的应用[M],中国人工智能进展(2003),北京邮电大学出版社.
[159]瞿继双等,基于数据融合的遥感图象处理技术[J],中国图象图形学报,Vol.7,No.10,Oct., 2002.
[160]王培珍等,基于融合技术的螺纹钢打捆端面图像分割方案探讨[J],安徽工业大学学报,Vol.20, No.1, Jan., 2003.
[161] Markus Dietl and Bernhard Nebel, Cooperative Sensing in Dynamic Environments[C], Proceedings of IEEE International Conference on Intelligebt Robots and Systems, 2001.
[162]王培珍等,基于融合技术的螺纹钢打捆端面图像分割方案探讨[J],安徽工业大学学报,Vol.20, No.1, Jan., 2003.
[163]王文学等,足球机器人系统结构与关键技术研究[J],控制与决策,Vol.16, No.2, Mar., 2001.
[164] Bo Zhang etc, An Agent Team for RoboCup Simulator League[C], Proceedings of the 3nd World Congress on Intelligent Control and Automation , June 28-July 2, 2000.
[165] Xuming Xu etc, A Survey: RoboCup and the Resesrch[C], Proceedings of the 3nd World Congress on Intelligent Control and Automation, June 28-July 2, 2000.
[166]罗志增等,机器人感觉与多信息融合[M],机械工业出版社,2002年6月,北京.
[167] Jerome DOURET etc, Localization of robots in F180 League using projective geometry[C], The 2002 Intenational RoboCup Symposium Pre-Proceedings, June24-25,2002.
[168]徐毅等,数据融合研究的回顾与展望[J],信息与控制,Vol.17,No.3,Jun.,2002.
[169]吴陈等,数据融合系统的模型化和形式化研究[J],华东船舶工业学院学报,Vol.15, No.3, 2000.
[170] James Bruce, Tucker Balch and Manuela Veloso. Fast and Inexpensive Color Image Segmentation for Interactive Robots[C], In Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2000, pp. 2061-2066.
[171]黄瑛等,多传感器数据融合系统的软件实现[J],传感器技术,Vol.31, No.6, 1998.
[172]高德平等,多传感器和数据融合[J],红外与激光工程,Vol.28, No.1, Feb., 1999;Vol.28, No.2, Apr., 1999.
[173] Bing Zhang , Wanmi Chen , Minrui Fei, An Optimized Method for Path Planning Based on Artificial Potential Field[C]. ISDA 2006 Jinan, Shandong,China.pp.35-39
[174]易继锴,侯媛彬编著,智能控制技术[M],北京工业大学出版社,1999.