基于态势评估的足球机器人决策模型  

Decision Making Model Based on State Estimation in Robot Soccer

作　　者：娄云峰[1] 陈斌[2] 

机构地区：[1]西北工业大学计算机学院,陕西西安710072 [2]西北工业大学电子信息学院,陕西西安710072

出　　处：《计算机技术与发展》2013年第9期99-102,113,共5页Computer Technology and Development

基　　金：西北工业大学研究生创业种子基金(Z2011142)

摘　　要：为了提高足球机器人中策略执行的有效性和针对性,提出了一种基于赛场正向态势评估和反向执行效果评估的有限状态自动机分层决策模型。该模型将赛场决策分为战术策略和具体任务,通过正向态势评估信息和任务执行效果的反馈信息进行综合量化,基于有限状态自动机建立策略和任务的转换关系,从而做出适合当前态势的战术策略。经仿真实验表明,该决策模型在很大程度上提高了策略决策的有效性和针对性,使得球队的整体攻防能力得到了相应的改善。In order to improve validity and pertinence of strategies in robot soccer, put forward a hierarchical finite state automatons deci- sion model based on match state estimations and performing effects. This model synthesizes and quantitates the information into tactical strategy and specific tasks, through state estimations and feedback of performing effects, can establish tactics conversion relationship based on finite state automatons,accordingly make a tactic suiting current states. The simulations indicate that the decision model improves validity and pertinence of tactics to a great extent,enabling that whole abilities of attacking and defending for the soccer team attain corre- sponding melioration.

关 键 词：足球机器人 决策 态势评估 分层有限状态自动机 

分 类 号：TP39[自动化与计算机技术—计算机应用技术]