基于双层决策模型的足球机器人决策系统

Robot Soccer System Based on the Decision-making Model with Two-layers

设计并实现了基于行为的足球机器人系统:主要包括基本行为器和进攻、防守模块的设计与实现。采用双层的决策系统,主动完成知识提取并确定机器人协同任务的特性,使整个系统具有智能体的特征。计算机仿真技术给机器人球队提供"学习"能力,在计算机上建立模型、开发比赛策略,反复试验后可将成功的策略移植到实际的机器人球队上进行比赛。

This paper implement a robot soccer system based on behavior theory, which mainly includes designs and implementations of the base behavior containers and the attack and defense units. We adopt the decision - making model with two - layers which we have a detailed analyze of advantages of the framework system. Decision - making subsystem is the pivotal part of whole system. Its characters, picking up information and deciding cooperative role intentionally, indicate that the whole system has some characters of agent. In this model, behavior - based system is accepted as robot controller,which makes robot become a unit with certain ability of self - command. It consists of centralized - control and individual - control,is more close to the reality. Its layers are more reasonable in logic and more meaningful in physical structure ,which easy to be analyzed and optimized.