基于敌我信息的机器人足球策略设计  

Design of Strategy Based on Home and Opponent Information in Robot Soccer Competition

作　　者：赵晓军[1] 张京涛[1] 周宁[1] 陈雷[1] 田晓燕[1] 李云飞[1] 

机构地区：[1]河北大学电子信息工程学院,河北保定071002

出　　处：《河北大学学报（自然科学版）》2007年第4期434-438,共5页Journal of Hebei University(Natural Science Edition)

摘　　要：机器人足球是一个多智能体系统,决策子系统是机器人足球系统的核心部分.在分析机器人足球决策子系统及角色分配策略的基础上,建立了足球机器人控球能力的表达式,设置了突破敌方防守成功率的评估函数,并设计开发了一种基于敌我信息的机器人足球多智能体协作策略,以更好地掩护我方射手,避障,破坏敌方攻势,增加多智能体的灵活机动性,提高比赛的攻守效率.最后通过仿真比赛证明了该策略的有效性.The Robot Soccer system is a multi-agent system. And its kernel part is the decision-making subsystem. On the analysis of the decision-making subsystem of the Robot Soccer and the strategy of the role assignment, an expression is established to valuate the capability of controlling the ball of the soccer robots. And an estimate function is set up to evaluate the success rate of destroying opponent defence. After that, a cooperating strategy between the soccer robots based on home and opponent information is developed, which can pretend the home shooter much better, avoid obstacle more successfully and breach the attack of the opponent much more availably. Also, the strategy can improve the team-members＇ flexibility and competitive efficiency. Final- ly, the strategy is proved to be feasible through the simulation researches.

关 键 词：机器人足球 角色分配 策略 敌我信息 避障 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]