集控式足球机器人决策与控制系统设计与开发

Design and Development of the Decision-making and Control System of Centralized Soccer Robot

构建了由视觉子系统、决策子系统、无线通信子系统、机器人小车子系统和总控子系统组成的集控式足球机器人系统.总结了具有集中视觉、决策与控制的集控式足球机器人系统的控制问题.设计了基于分层递阶控制结构的足球机器人决策子系统.小车控制器构成“无脑”的执行器,运动控制器中集成了各种各样的动作函数,组织层则融合了不同的决策方案.长期的开发实践和实战成绩都表明,该系统具有良好的结构和优异的性能.

A centralized soccer robot system composed of such subsystems as vision, decision-making, wireless communication, robot car and console is constructed. This paper summarizes the control problems of the centralized soccer robot system with central vision, decision-maklng and control system, and designs a soccer robot decision-making subsystem based on the hierarchical control structure. The robot car controller is a “brainless” executor, the motion controller includes all kinds of action functions, and different decision schemes are collected in the organizing level. Longtime development practices and competition achievements prove that the system has good structure and high performance.