微型足球机器人防守策略和机器人小车的研究
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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。
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.
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。
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.
引文
[1] http://fira.wit.edu.cn/menu/menu1_2.htm
[2]http://hi.baidu.com/wanshanju/blog/item/185416086bf05630e8248820.html
[3] 钟碧良,张棋,杨宜民.足球机器人同步协调的研究.液压与机床.2003(4)
[4] 周军,丁波,张宗洋.FIRA 足球机器人守门员防守策略研究.哈尔滨工业大学学报,2004, 36 (7): 937-939
[5] 章苏书,吴敏,陈鑫等.一种基于行为的多智能体协作策略设计.机器人技术与应用,2003,第 5 期:42-44
[6] 柳长安,刘刚,刘春阳.机器人足球防守算法研究.哈尔滨工业大学学报,2004,36 (7):951-953
[7] D.Fox, W.Burgard, H.Kruppa, and S.Thrun Collaborative. Muli-robot localization. Proceeding of German Conference on Artificial Intelligence and 21st Symposium on Pattern Recognition, 1999: 255—266
[8] M.Wooldridge ang N.R.Jennings. Intelligent agents theory and practice.The knowledge Engineering Review, 1995, 10(2):115—152
[9] 刘金锟,尔联洁. 多智能体技术应用综述. 控制与决策. 2001, 16(2): 133—180
[10] 王云莉,肖田元, 段广洪等. 制造领域多智能体系统的技术研究. 计算机集成制造系统—CIMS, 2001,7(10) :1—7
[11] 蔡自兴,周翔,李枚毅.基于功能/行为集成的自主式移动机器人进化控制体系结构[J]机器人,2O0O.22(3):160-175
[12] 王文学,赵颖妹,孙萍等.多智能体足球机器人系统的关键技术.东北人学学报,2001, 22 C2):192-190
[13] 徐心和.足球机器人六步推理模型研究.机器人足球研讨班会议论文集,1998: 42-46
[14] 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,2001,20(3):48-02
[15] 冯翼,赵新,刘景泰等.一种机器人足球策略的层次化体系结构.哈尔滨土业大学学报,2003, 35 (9):1067-1070
[16] 徐心和.足球机器人六步推理模型研究[A].机器人足球研讨班论文集[C].东北大学,沈阳:东北大学出版社,1998, 42-46.
[17] Xu Xinhe. Six-step Reasoning model for robot-soccer [J]. Journal of Harbin Institute of Technology, 2001,8(3):244-248.
[18] 吴丽娟,张春晖,徐心和.足球机器人决策系统推理模型.东北大学学报(自然科学 版),2001,22(6):597-599
[19] 张春晖.足球机器人策略系统研究与实现[D].沈阳:东北大学,2001, 27-300
[20] 蔡自兴.智能控制一智能基础与应用.国防土业出版社,1998: 17-19
[21] 柳长安,刘春阳,李国栋.基于模糊综合决策的足球机器人策略子系统.哈尔滨工业大学学报,2004, 36 (7): 807-808
[22] Jong-Hwan,Kwang-Choon Kim,Dong-Han Kim, etc.,Path Planning and Role Selection Mechanism for Soccer Robots, Proceedings of the 1998 IEEE International Conferece on Robotics&Automation,leuven,belgium: 1998, 3216 一 3221
[23] Flores R A. Towards the standardization of multi-agent system architecture. an overview [C] Computer Science Department. University of Calgary ,Canada: 1999.
[24] GEORGE F L. Artificial Intelligence: Structures and Strategies for Complex Problem Solving [M]. England: Peason Education Limited,2004
[25] KIM J H, KIM K C, KIM Y J. Path Planning and Role Selection Mechanism for Soccer Robots. Proceeding Of the IEEE International Conference on Robotics and Automation, Leuven: Belgium, 1998.
[26] KIM J H, KIM K C, KIM Y J. Path Planning and Role Selection Mechanism for Soccer Robots. Proceeding Of the IEEE International Conference on Robotics and Automation, Leuven: Belgium, 1998.
[27] 吴丽娟,翟玉人,徐心和.足球机器人系统中角色分配策略的设计田.基础自动化, 2000,7(1):4-6.
[28] 刘巍,张承,马辰威等.足球机器人决策与角色分配系统.哈尔滨工业大学学报 2004,36(7):966-968
[29] 许松青,吴海彬,杨兴裕.两轮驱动移动机器人的运动学研究.电子机械工程,2005.Vol21.No26
[30] 周军,丁波,张宗洋.FIRA 足球机器人守门员防守策略研究.哈尔滨工业大学学报,2004, 36 (7): 937-939
[31] http://www.nlict.zju.edu.cn/robot2003/FIRA/index.htm
[32] http://www.faulhaber-group.com/uploadpk/e_2224SR_DFF.pdf
[33] 2-512:http://www.robotstorehk.com/soccer/doc/ie2-512.pdf
[34] http://www. freqchina. com/ANnotefor2000. pdf
[35] 夏川,曹洋.基于 C8051单片机的足球机器人小车系统设计.控制工程2003 年 9 月第 10 卷第 5 期: 453-455.
[36] http://www.learn-c.com/l298.pdf
[37] http://data.eeworld.com.cn/pdf/73438_ADMOS_AMS1117-18.html
[38] 韩立岩,汪培庄.应用模糊数学.首都经济贸易大学出版社.第 2 页
[2]http://hi.baidu.com/wanshanju/blog/item/185416086bf05630e8248820.html
[3] 钟碧良,张棋,杨宜民.足球机器人同步协调的研究.液压与机床.2003(4)
[4] 周军,丁波,张宗洋.FIRA 足球机器人守门员防守策略研究.哈尔滨工业大学学报,2004, 36 (7): 937-939
[5] 章苏书,吴敏,陈鑫等.一种基于行为的多智能体协作策略设计.机器人技术与应用,2003,第 5 期:42-44
[6] 柳长安,刘刚,刘春阳.机器人足球防守算法研究.哈尔滨工业大学学报,2004,36 (7):951-953
[7] D.Fox, W.Burgard, H.Kruppa, and S.Thrun Collaborative. Muli-robot localization. Proceeding of German Conference on Artificial Intelligence and 21st Symposium on Pattern Recognition, 1999: 255—266
[8] M.Wooldridge ang N.R.Jennings. Intelligent agents theory and practice.The knowledge Engineering Review, 1995, 10(2):115—152
[9] 刘金锟,尔联洁. 多智能体技术应用综述. 控制与决策. 2001, 16(2): 133—180
[10] 王云莉,肖田元, 段广洪等. 制造领域多智能体系统的技术研究. 计算机集成制造系统—CIMS, 2001,7(10) :1—7
[11] 蔡自兴,周翔,李枚毅.基于功能/行为集成的自主式移动机器人进化控制体系结构[J]机器人,2O0O.22(3):160-175
[12] 王文学,赵颖妹,孙萍等.多智能体足球机器人系统的关键技术.东北人学学报,2001, 22 C2):192-190
[13] 徐心和.足球机器人六步推理模型研究.机器人足球研讨班会议论文集,1998: 42-46
[14] 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,2001,20(3):48-02
[15] 冯翼,赵新,刘景泰等.一种机器人足球策略的层次化体系结构.哈尔滨土业大学学报,2003, 35 (9):1067-1070
[16] 徐心和.足球机器人六步推理模型研究[A].机器人足球研讨班论文集[C].东北大学,沈阳:东北大学出版社,1998, 42-46.
[17] Xu Xinhe. Six-step Reasoning model for robot-soccer [J]. Journal of Harbin Institute of Technology, 2001,8(3):244-248.
[18] 吴丽娟,张春晖,徐心和.足球机器人决策系统推理模型.东北大学学报(自然科学 版),2001,22(6):597-599
[19] 张春晖.足球机器人策略系统研究与实现[D].沈阳:东北大学,2001, 27-300
[20] 蔡自兴.智能控制一智能基础与应用.国防土业出版社,1998: 17-19
[21] 柳长安,刘春阳,李国栋.基于模糊综合决策的足球机器人策略子系统.哈尔滨工业大学学报,2004, 36 (7): 807-808
[22] Jong-Hwan,Kwang-Choon Kim,Dong-Han Kim, etc.,Path Planning and Role Selection Mechanism for Soccer Robots, Proceedings of the 1998 IEEE International Conferece on Robotics&Automation,leuven,belgium: 1998, 3216 一 3221
[23] Flores R A. Towards the standardization of multi-agent system architecture. an overview [C] Computer Science Department. University of Calgary ,Canada: 1999.
[24] GEORGE F L. Artificial Intelligence: Structures and Strategies for Complex Problem Solving [M]. England: Peason Education Limited,2004
[25] KIM J H, KIM K C, KIM Y J. Path Planning and Role Selection Mechanism for Soccer Robots. Proceeding Of the IEEE International Conference on Robotics and Automation, Leuven: Belgium, 1998.
[26] KIM J H, KIM K C, KIM Y J. Path Planning and Role Selection Mechanism for Soccer Robots. Proceeding Of the IEEE International Conference on Robotics and Automation, Leuven: Belgium, 1998.
[27] 吴丽娟,翟玉人,徐心和.足球机器人系统中角色分配策略的设计田.基础自动化, 2000,7(1):4-6.
[28] 刘巍,张承,马辰威等.足球机器人决策与角色分配系统.哈尔滨工业大学学报 2004,36(7):966-968
[29] 许松青,吴海彬,杨兴裕.两轮驱动移动机器人的运动学研究.电子机械工程,2005.Vol21.No26
[30] 周军,丁波,张宗洋.FIRA 足球机器人守门员防守策略研究.哈尔滨工业大学学报,2004, 36 (7): 937-939
[31] http://www.nlict.zju.edu.cn/robot2003/FIRA/index.htm
[32] http://www.faulhaber-group.com/uploadpk/e_2224SR_DFF.pdf
[33] 2-512:http://www.robotstorehk.com/soccer/doc/ie2-512.pdf
[34] http://www. freqchina. com/ANnotefor2000. pdf
[35] 夏川,曹洋.基于 C8051单片机的足球机器人小车系统设计.控制工程2003 年 9 月第 10 卷第 5 期: 453-455.
[36] http://www.learn-c.com/l298.pdf
[37] http://data.eeworld.com.cn/pdf/73438_ADMOS_AMS1117-18.html
[38] 韩立岩,汪培庄.应用模糊数学.首都经济贸易大学出版社.第 2 页