一种中型组机器人足球系统的任务分解方法  

A Method of Task Decomposition for the System of Robocup Robot Soccer Game of Medium-Sized Groups

作　　者：魏良[1] 杨宜民[1] 

机构地区：[1]广东工业大学自动化学院,广东广州510075

出　　处：《电脑与电信》2011年第3期41-43,46,共4页Computer & Telecommunication

摘　　要：针对Robocup中型组足球机器人比赛系统的环境高度动态变化、高度对抗性的特点,提出了一种新的基于对方机器人位置的足球机器人系统任务分解方法。改变了将机器人看做一个点的传统处理方式,引入球员辐射区以描述某一时刻机器人的活动范围及其倾向;根据对方在球场上位置分布及其稀疏程度动态实现球场动态分割,从而使任务分解具有灵活性、超前性的特点。仿真实验表明,本文提出的方法简单实用,鲁棒性佳。The system of Robocup robot soccer game of medium-sized groups has characteristics of highly dynamic changes in the environment and highly confrontational. A new task decomposition method for soccer robot system is proposed in this paper based on the location of each robot of opposed team. The paper gives the introduction of the radiation zone to describe the range and inclination of the robot at a time instead of the traditional approach which regards one robot as a point. It also gives a method to realize a dynamic segmentation of the playfield based on the distribution and the sparse level of robots in the opposite team, which can make the task decomposition has features of flexibility and advancement. Simulation results show that the proposed method is simple and practical, robust resistance.

关 键 词：ROBOCUP 中型组 对方 任务分解 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]