足球机器人混合分层控制体系结构  

Mixed layer-divided controlling architecture in robot soccer

作　　者：柯文德[1] 

机构地区：[1]茂名学院计算机系,广东茂名525000

出　　处：《计算机工程与设计》2007年第22期5488-5489,5555,共3页Computer Engineering and Design

摘　　要：为进一步提高足球机器人队伍在动态环境下的整体比赛能力,针对目前普遍存在的队伍体系结构过于偏向协作或应急的问题,对传统的慎思主体分层模型和算法作了较大改进。提出了混合分层模型,模型层次分明,兼备中短期任务规划能力和紧急情况下的应急能力,而且易于移植和扩展,最后通过仿真实验验证了其正确性和有效性。In order to improve ＂the general competency of robot team in dynamic environment, the traditional layer-divided model for deliberate agent is improved greatly and a mixed layer-divided model is brought forth to solve the architecture problems of immoderate cooperation or emergency-reacting ability in robot soccer. This model with clear layers that is easily extended and transplanted is able to carry out both the short-or-medium term task planning and the reactive dealing task. The validity and feasibility of the model is proved by the simulating experiment finally.

关 键 词：足球机器人 应急 慎思主体 多机器人协作 冲突消解 

分 类 号：TP181[自动化与计算机技术—控制理论与控制工程]