基于蚁群系统的仿真机器人足球攻防转换策略

Dynamic Offense and Defense Conversion Strategy of Robot Soccer Based on Ant Colony System

为了提高机器人足球的整体攻防能力,在动态攻防转换策略中建立了基于蚁群系统的混合通信机制,既增强了足球机器人的协作能力,又避免了足球机器人陷入冲突或任务死锁状态,增加了攻防转换的灵活性。在该通信机制的基础上采用攻防区域划分的方法,以球的位置为驱动信息,通过信息素来确定变换队形。在FIRA仿真平台中实验表明,基于蚁群混合通信机制的动态攻防转换策略使得仿真足球机器人在比赛过程中表现出更优异的性能,改善了球队的整体攻防能力,可有效应用于机器人足球比赛中。

In order to improve the offense and defense capability of robot soccer, a dynamic offense and defense conversion strategy of robot soccer based on hybrid communication mechanism of ant colony system was proposed. The mechanism enhanced robots' collaboration capabilities and avoided the conflict or task deadlock. The strategy divided the region and established the formation according to the sub-regional pheromone, and the position of the ball was regarded as the drive information. Experimental results in FIRA simulation platform show that the dynamic offense and defense conversion strategy have better performance and improve the global offense and defense capability, so it can be applied to robot soccer effectively.