半自主多机器人竞技对抗决策系统研究  

Competitive Countermeasure Decision System in Semi-autonomous Multi-robot

作　　者：张忠秋[1] 张忠钦 马蕾[1] 史豪斌[3] ZHANG Zhongqiu;ZHANG Zhongqin;MA Lei;SHI Haobin(Mingde College,Northwestern Polytechnical University,Xi’an,710072,China;Aeronautical Computing Technique Research Institue,Xi’an,710068,China;School of Computer,Northwestern Polytechnical University,Xi’an,710072,China)

机构地区：[1]西北工业大学明德学院,西安710072 [2]航空工业计算所,西安710068 [3]西北工业大学计算机学院,西安710072

出　　处：《南京航空航天大学学报》2018年第5期709-714,共6页Journal of Nanjing University of Aeronautics & Astronautics

基　　金：陕西省重点研发计划(2018GY-187)资助项目

摘　　要：机器人竞技以其独有的动态性、实时性等特点,逐渐成为多智能体机器人系统的研究平台。以类人型机器人为硬件平台,设计了包含视觉子系统、决策子系统以及通信子系统在内的半自主机器人的竞技对抗决策系统。然后根据类人型机器人运动特性提出攻防策略模型,设计态势评估、路径规划等相关机器人对抗决策策略。最后通过实验证明了对抗决策系统的稳定性。Robot competition has become a research platform of multi-agent robot system with its unique dynamic and real-time characteristics.With humanoid robot as the hardware platform,a semi-autonomous robot’s competition strategy system including communication subsystem,vision subsystem and decision-making subsystem is designed.Then,according to the motion characteristics of humanoid robot,the offensive and defensive strategy model is proposed,which includes the robot strategy strategies such as situation assessment and path planning.Finally,through concrete experiments,the stability of countermeasure decision system is proved.

关 键 词：类人型机器人 多智能体 对抗决策 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]