全自主足球机器人通信子系统的设计与实现  

Design and Implementation of Communication Subsystem of Autonomous Robot Soccer

作　　者：谢云[1] 杨宜民[1] 

机构地区：[1]广东工业大学自动化学院,广州510090

出　　处：《计算机工程与应用》2005年第6期30-32,211,共4页Computer Engineering and Applications

基　　金：国家863高技术研究发展计划项目(编号:512-9935-08);广东省重点科技攻关项目(编号:200027)资助

摘　　要：全自主足球机器人系统涉及到在未知的动态环境中多机器人的协同工作,如何实现各足球机器人之间的高效实时通信是一个关键的问题。通信需要解决对话管理、对话协议和通信平台三个问题。其中,对话管理为机器人之间的信息交换提供各种连接方式;对话协议是机器人之间对协作信息内容和格式的约定;通信平台则是实现信息交互的物理硬件。该文采用基于CSMA/CA的无线局域网,建立了全自主足球机器人通信子系统的通信平台;建立了基于C/S模式的对话管理;并为多机器人系统的协作问题求解提出了一套可行的对话协议。实验证明该设计可行。Autonomous robot soccer system consists of a multi-robot that needs to cooperate in unpknow,dynamic,and competitive environment.Thus,it is a crucial issue how to realize effective and real time communications among soccer robots.There are three problems which should be solved in communication,they are dialog management ,dialog protocol,and communication platform.The dialog management provides some connect mode to exchange information among agents.The dialog protocol is an aggregate of stipulation about communication matter and its format.The communication platform is a physic hardware to realize the information exchange.In this paper,we set up the communication platform of a com-munication subsystem of autonomous soccer robot with a WLAN based on CSMA/CA,and set up its dialog management with C/S model,and offer a viable dialog protocol for cooperation problem solving of Multi-robot System.It is shown that the design is effective,efficient robust.

关 键 词：足球机器人 对话 CSMA/CA 无线局域网 C/S模式 协作问题求解 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]