机器人足球赛中角色的动态分配  

DYNAMIC ASSIGNMENT OF ROLES IN ROBOT SOCCER COMPETITION

作　　者：王建国[1] 梁松阳[1] 张洋[1] 孟祥甫[1] 

机构地区：[1]东北电力大学自动化工程学院,吉林吉林132012

出　　处：《计算机应用与软件》2009年第7期37-38,42,共3页Computer Applications and Software

基　　金：国家重点基础研究发展计划项目(2007CB206900)

摘　　要：针对在Robocup中型四人组机器人足球比赛中,原有的投票机制在进行角色分配时产生的系统震荡问题和系统反应不灵敏问题,提出用动态权值的投票机制进行解决。由于投票函数的设定有很大的人为因素,而强化学习在与环境的交互时的试错可能给系统带来风险损失,因此把动态权值的投票机制与Q学习相结合应用于角色分配。通过仿真验证了方法的有效性。Aiming at the system vibration problem and the lower sensitive of system problem in previous voting mechanism when assigning roles in robots league soccer competition of Roboeup of middle size of four,this paper puts forward the dynamic power voting mechanism to resolve them. Considering of the considerable human factors in voting function setting and the possible risking loss which the system may suffer from trial error during the process of interactive between the agent in reinforcement learning and the environment, in the paper it combines dynamic power voting mechanism with Q-learning and applies it in the role assignment. FinaUy,the simulation experiment is made to verify the effectiveness of the method.

关 键 词：机器人足球 角色分配 投票机制 Q学习 

分 类 号：TP312[自动化与计算机技术—计算机软件与理论] TP242[自动化与计算机技术—计算机科学与技术]