机器人足球赛中队员角色的动态分配策略

Dynamic role assignment strategy in robot soccer competition

介绍了在机器人足球赛中队员角色的分区动态分配策略.当球在敌方球门区,使用全攻策略,并定义了衡量射门能力的量,凡是有射门能力的球员都去射门;球在己方球门,使用全守策略,定义了衡量防守能力的量,凡是有防守能力的球员,都参加防守,以尽早把球踢出危险区;而在其他区域,提出了"远方优先最短距离分配算法"动态分配队员的角色,该算法考虑了队员站位过程中的相互避障、队员体力消耗的均衡和运动距离短等因素.

An area-divided dynamic role assignment strategy is presented. When the ball is in the opponent goal area, an all-attacking strategy is applied, and all the members having a power of shooting defined in the paper are assigned to attack; while the ball is in the home goal area, an all-defending strategy is used, all the members having a power of defending also defined in this paper are put to take the ball in order to take the ball out of the dangerous area as soon as possible. In other areas, an algorithm called remote position firstly assigned with shortest distance is presented to dynamically assign the role. Factors such as obstacle-avoidance, balance of power consumption and short moving distance are taken into account in the algorithm.