大场地集控式足球机器人系统的研究与实现
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摘要
足球机器人是典型的多学科交叉研究,近年来受到了人工智能、机器人和控制科学等相关领域学者的广泛关注,己成为热点研究课题。足球机器人系统研究由多个移动机器人组成的群体,在复杂的动态环境下如何组织、协调、合作,竞争、共同完成复杂任务的问题。具有实时性要求高、环境不可预测等特点。
足球机器人系统作为一种多机器人协作自治系统,被许多研究人员作为多智能体系统的理想研究平台,研究多机器人在复杂动态环境和多重制约、干扰下,完成多任务和多目标所需的实时推理和规划技术。如何提高在动态环境中多机器人的协作能力,是其中急需研究和解决的问题。将多机器人作为一个整体,从系统的角度研究多机器人系统的整体行为和组织结构,已成为机器人、人工智能和控制、决策领域的关注热点。它将有关高科技的研究和足球联系在一起,通过竞技来检验各种理论、方法和技术的进展。系统涉及计算机视觉、多智能体理论、机器人运动控制、无线通信、微机电系统、电气传动等研究领域,也是一种小型高科技对抗平台。
本文提出的11vs11大场地集控式足球机器人系统由视觉子系统、决策子系统、通讯子系统和机器人小车四个部分构成,依据2004年国际机器人足球联合会推出的相应竞赛要求。系统要能有良好的表现,不仅需要其各个组成部分具有优良的性能,更重要的是能具有优良的整体性能。11vs11大场地集控式足球机器人系统由于场地面积大、机器人小车多,给系统在技术上带来了很多需要解决的难题。本文深入研究了大场地集控式足球机器人系统,从理论到实践解决了这一系统的关键技术问题,设计并实现了该系统。取得的主要创新研究成果有:
给出了一种大场地集控式足球机器人系统的构建方案,提出了一种面向大场地集控式足球机器人系统的客户机/服务器(C/S)模式体系结构的系统软件框架,通过采用内核同步机制、消息映射等多线程技术和基于Socket的网络通讯技术实现了双摄像头的采集结构和双机通信,解决了大场地条件下系统信息量大增的处理问题。提出并实现了“标识数据池”结构,增加了决策系统的“大脑”记忆功能,提高了智能化程度。
提出了基于扰动观察器的机器人小车运动控制系统,给出了引入扰动观察器后机器人小车运动控制系统的结构,设计了控制器和扰动观察器的参数,解决了小车在大场地高速运动时的抗干扰能力,提高了小车运动的稳定性。针对机器人小车速度给定发生较大变化时,研究并实现了在车轮不打滑条件下提高加速度的速度控制算法。针对比赛过程中机器人小车运动状态需要急剧改变、经常发生顶撞等情况,研究并给出了新的速度检测方法和手段,准确地检测小车的实际运动速度,实现了可靠的速度闭环控制。
分析了大场地条件下对视觉系统的要求,设计了一套新颖的大场地集控式足球机器人视觉系统。研究了不同颜色模型在实时彩色图像处理和目标识别中的特点,设计了一系列色标系统。针对因场地大而光照不均造成的色标缺损,给出了一套补偿算法。对两个摄像头的图像重叠部分进行了信息融合处理,分析了场地图像畸变的特点,研究并设计了满足实时性要求的图像校正处理算法。
根据集中式决策结构,针对足球机器人系统逻辑思维形式化、规范化、知识化以及大场地空间大的特点,提出并实现了一系列基于“攻守平衡”思想的策略。设计了守门员积极防守的完整策略。分析了常用避障方法的不足,给出了一种新的动态避障算法,兼顾了实时性和避障的要求。提出了一种兼顾防守的足球机器人进攻布局及角色分配方法。最后设计实现了一套基于对方信息预测的动态攻防策略。
研究并实现了一套满足大场地集控式足球机器人系统要求的点对多点短距离无线通信系统。
在以上理论和技术研究成果的基础上,完成了完整的大场地集控式足球机器人系统的研究和设计。本系统参加了一系列国内、外的足球机器人竞赛,在国内连续获得冠军,2006年在德国多特蒙德举行的世界机器人足球锦标赛上获得第三名,2007年在美国旧金山举行的世界机器人足球锦标赛上获得亚军。表明了本文给出的大场地集控式足球机器人系统良好的稳定可靠性、实时性与总体性能先进性。
Soccer robot is a typical crossed research with multi-subjects,which has been a hot researching subject and widely concemed by many scholars from corresponding areas such as artificial intelligence,robot and control science in recent years.Soccer robot system does research on how to organize,harmonize,collaborate,contest and finally achieve the complicated task together by a group of mobile robots in the dynamic complicated environment.It has high demand of real time and inscrutability of environment.
Soccer robot system,a kind of autonomous system by the collaboration of multi-robot, is regarded as an ideal researching platform of multi-Agent by many researchers,it is used to study the real-time deduction and planning technology which are necessary for multi-robot to achieve multi-object and multi-task in complicated dynamic environment with much restriction and disturbance.The most urgent problem for researching and solving is how to improve the collaborating ability among robots in dynamic environment. Research on the behavior and organizing construction of multi-robot system as a whole in view of system has been a focus in the areas of robot,artificial intelligence,control and strategy.It connects the high technology with football and test the development of various theories,methods and technologies through matches.The system refers to many researching areas such as computer vision,multi-Agent theory,robot movement control, wireless communication,micro mechanics and electronics system,electric transmission and so on,it is a small opposed platform of high science and technology.
Centralized control soccer robot system of large league 11 vs 11 proposed in this paper is composed of vision subsystem,strategy subsystem,communication subsystem and robot subsystem,which is in accordance with the relative rules released by FIRA in 2004.To obtain more excellent performance of the system,the better capability is need not only in part,but also as a whole.There are many technological problems in the centralized control soccer robot system of large league brought by the large area of ground and more robots.In his paper,deep research is made on the soccer robot system of large league and solve a series of critical problems of technology from theory to practice,finally design and realize the system.Main innovative researching achievements are as follows:
A kind of plan was proposed to construct the centralized control soccer robot system of large league,the C/S mode software structure for the system was presented,image capturing structure by two cameras and communication between two computers were realized through adopting multi-thread technology of kernel synchronization,messages map and internet communication technology based on Socket,which had solved the problem of greatly increased data for process.Flag data pool was designed and realized, which can improve the memory of strategy system brain,as well as the intelligence of the system.
The movement control of robot based on disturbing observer was presented, movement control structure of robot was determined after the introduction of disturbing observer,parameters of controller and disturbing observer were designed,as a result,the anti-disturbance and stability of robot were improved while moving with high velocity in the large ground.Velocity controlling algorithm with high acceleration was researched and realized without slip when the velocity was greatly changed.As the movement status of robot and collision between robots frequently happened,new detecting method and means were researched,which can detect the robot velocity accurately and realize the closed-loop control of velocity reliably.
After analyzing the demand of vision system in large league,a new set of vision system was designed for centralized control soccer robot system of large league.A series of color patch system was designed after researching on the characteristics of different color models in real-time image process and object detection.A set of algorithm was designed to compensate the loss of color patch which was caused by illumination unbalance.Information from overlapped part of images captured by two cameras was merged,and image calibration algorithm was designed which can meet the need of real time after analyzing the characteristic of image distortion.
According to the structure of centralized strategy,considering the characteristic of formalization,standardization and knowledgeability of logical thinking for soccer robot system and the large area of ground,a series of strategy based on the idea that attack and defence should be balanced was proposed and realized.After analyzing the defects of commonly used algorithm for avoiding obstacle,a new set of dynamic algorithm for avoiding obstacle was presented,which can both meet the needs of real time and avoiding obstacle.A kind of method which was used to dispose attacking and defending robots and allocate roles was proposed.Finally a set of dynamic attacking and defending strategy base on the prediction of opponents information was realized.
A set of wireless communication system of one point to multi-point in short distance was researched and realized,which can meet the need of centralized control soccer robot system of large league.
Based on the above theories and technological achievements,research and design of integrated centralized control soccer robot system of large league was completed.The system was used to take part in a series of domestic and international matches,champion was obtained in consecutive three years in domestic matches,third place was awarded at the FIRA RoboWorld Cup held in Dortmund Germany in 2006,second place was awarded at the FIRA RoboWorld Cup held in San Francisco USA in 2007,it is proved that centralized control soccer robot system of large league introduced in this paper have nice performance of stability,reliability,real time and advanced whole system.
足球机器人系统作为一种多机器人协作自治系统,被许多研究人员作为多智能体系统的理想研究平台,研究多机器人在复杂动态环境和多重制约、干扰下,完成多任务和多目标所需的实时推理和规划技术。如何提高在动态环境中多机器人的协作能力,是其中急需研究和解决的问题。将多机器人作为一个整体,从系统的角度研究多机器人系统的整体行为和组织结构,已成为机器人、人工智能和控制、决策领域的关注热点。它将有关高科技的研究和足球联系在一起,通过竞技来检验各种理论、方法和技术的进展。系统涉及计算机视觉、多智能体理论、机器人运动控制、无线通信、微机电系统、电气传动等研究领域,也是一种小型高科技对抗平台。
本文提出的11vs11大场地集控式足球机器人系统由视觉子系统、决策子系统、通讯子系统和机器人小车四个部分构成,依据2004年国际机器人足球联合会推出的相应竞赛要求。系统要能有良好的表现,不仅需要其各个组成部分具有优良的性能,更重要的是能具有优良的整体性能。11vs11大场地集控式足球机器人系统由于场地面积大、机器人小车多,给系统在技术上带来了很多需要解决的难题。本文深入研究了大场地集控式足球机器人系统,从理论到实践解决了这一系统的关键技术问题,设计并实现了该系统。取得的主要创新研究成果有:
给出了一种大场地集控式足球机器人系统的构建方案,提出了一种面向大场地集控式足球机器人系统的客户机/服务器(C/S)模式体系结构的系统软件框架,通过采用内核同步机制、消息映射等多线程技术和基于Socket的网络通讯技术实现了双摄像头的采集结构和双机通信,解决了大场地条件下系统信息量大增的处理问题。提出并实现了“标识数据池”结构,增加了决策系统的“大脑”记忆功能,提高了智能化程度。
提出了基于扰动观察器的机器人小车运动控制系统,给出了引入扰动观察器后机器人小车运动控制系统的结构,设计了控制器和扰动观察器的参数,解决了小车在大场地高速运动时的抗干扰能力,提高了小车运动的稳定性。针对机器人小车速度给定发生较大变化时,研究并实现了在车轮不打滑条件下提高加速度的速度控制算法。针对比赛过程中机器人小车运动状态需要急剧改变、经常发生顶撞等情况,研究并给出了新的速度检测方法和手段,准确地检测小车的实际运动速度,实现了可靠的速度闭环控制。
分析了大场地条件下对视觉系统的要求,设计了一套新颖的大场地集控式足球机器人视觉系统。研究了不同颜色模型在实时彩色图像处理和目标识别中的特点,设计了一系列色标系统。针对因场地大而光照不均造成的色标缺损,给出了一套补偿算法。对两个摄像头的图像重叠部分进行了信息融合处理,分析了场地图像畸变的特点,研究并设计了满足实时性要求的图像校正处理算法。
根据集中式决策结构,针对足球机器人系统逻辑思维形式化、规范化、知识化以及大场地空间大的特点,提出并实现了一系列基于“攻守平衡”思想的策略。设计了守门员积极防守的完整策略。分析了常用避障方法的不足,给出了一种新的动态避障算法,兼顾了实时性和避障的要求。提出了一种兼顾防守的足球机器人进攻布局及角色分配方法。最后设计实现了一套基于对方信息预测的动态攻防策略。
研究并实现了一套满足大场地集控式足球机器人系统要求的点对多点短距离无线通信系统。
在以上理论和技术研究成果的基础上,完成了完整的大场地集控式足球机器人系统的研究和设计。本系统参加了一系列国内、外的足球机器人竞赛,在国内连续获得冠军,2006年在德国多特蒙德举行的世界机器人足球锦标赛上获得第三名,2007年在美国旧金山举行的世界机器人足球锦标赛上获得亚军。表明了本文给出的大场地集控式足球机器人系统良好的稳定可靠性、实时性与总体性能先进性。
Soccer robot is a typical crossed research with multi-subjects,which has been a hot researching subject and widely concemed by many scholars from corresponding areas such as artificial intelligence,robot and control science in recent years.Soccer robot system does research on how to organize,harmonize,collaborate,contest and finally achieve the complicated task together by a group of mobile robots in the dynamic complicated environment.It has high demand of real time and inscrutability of environment.
Soccer robot system,a kind of autonomous system by the collaboration of multi-robot, is regarded as an ideal researching platform of multi-Agent by many researchers,it is used to study the real-time deduction and planning technology which are necessary for multi-robot to achieve multi-object and multi-task in complicated dynamic environment with much restriction and disturbance.The most urgent problem for researching and solving is how to improve the collaborating ability among robots in dynamic environment. Research on the behavior and organizing construction of multi-robot system as a whole in view of system has been a focus in the areas of robot,artificial intelligence,control and strategy.It connects the high technology with football and test the development of various theories,methods and technologies through matches.The system refers to many researching areas such as computer vision,multi-Agent theory,robot movement control, wireless communication,micro mechanics and electronics system,electric transmission and so on,it is a small opposed platform of high science and technology.
Centralized control soccer robot system of large league 11 vs 11 proposed in this paper is composed of vision subsystem,strategy subsystem,communication subsystem and robot subsystem,which is in accordance with the relative rules released by FIRA in 2004.To obtain more excellent performance of the system,the better capability is need not only in part,but also as a whole.There are many technological problems in the centralized control soccer robot system of large league brought by the large area of ground and more robots.In his paper,deep research is made on the soccer robot system of large league and solve a series of critical problems of technology from theory to practice,finally design and realize the system.Main innovative researching achievements are as follows:
A kind of plan was proposed to construct the centralized control soccer robot system of large league,the C/S mode software structure for the system was presented,image capturing structure by two cameras and communication between two computers were realized through adopting multi-thread technology of kernel synchronization,messages map and internet communication technology based on Socket,which had solved the problem of greatly increased data for process.Flag data pool was designed and realized, which can improve the memory of strategy system brain,as well as the intelligence of the system.
The movement control of robot based on disturbing observer was presented, movement control structure of robot was determined after the introduction of disturbing observer,parameters of controller and disturbing observer were designed,as a result,the anti-disturbance and stability of robot were improved while moving with high velocity in the large ground.Velocity controlling algorithm with high acceleration was researched and realized without slip when the velocity was greatly changed.As the movement status of robot and collision between robots frequently happened,new detecting method and means were researched,which can detect the robot velocity accurately and realize the closed-loop control of velocity reliably.
After analyzing the demand of vision system in large league,a new set of vision system was designed for centralized control soccer robot system of large league.A series of color patch system was designed after researching on the characteristics of different color models in real-time image process and object detection.A set of algorithm was designed to compensate the loss of color patch which was caused by illumination unbalance.Information from overlapped part of images captured by two cameras was merged,and image calibration algorithm was designed which can meet the need of real time after analyzing the characteristic of image distortion.
According to the structure of centralized strategy,considering the characteristic of formalization,standardization and knowledgeability of logical thinking for soccer robot system and the large area of ground,a series of strategy based on the idea that attack and defence should be balanced was proposed and realized.After analyzing the defects of commonly used algorithm for avoiding obstacle,a new set of dynamic algorithm for avoiding obstacle was presented,which can both meet the needs of real time and avoiding obstacle.A kind of method which was used to dispose attacking and defending robots and allocate roles was proposed.Finally a set of dynamic attacking and defending strategy base on the prediction of opponents information was realized.
A set of wireless communication system of one point to multi-point in short distance was researched and realized,which can meet the need of centralized control soccer robot system of large league.
Based on the above theories and technological achievements,research and design of integrated centralized control soccer robot system of large league was completed.The system was used to take part in a series of domestic and international matches,champion was obtained in consecutive three years in domestic matches,third place was awarded at the FIRA RoboWorld Cup held in Dortmund Germany in 2006,second place was awarded at the FIRA RoboWorld Cup held in San Francisco USA in 2007,it is proved that centralized control soccer robot system of large league introduced in this paper have nice performance of stability,reliability,real time and advanced whole system.
引文
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