基于合作4人博弈的足球机器人协作防守模型研究

Study on Robot Soccer Collaborative Defense Model Based on Four Person Cooperative Game

主要研究基于合作4人博弈的足球机器人协作防守模型。首先,在对已有仿真足球机器人比赛的防守策略进行研究的基础上,提出了针对仿真足球机器人5vs5比赛中协作防守战术的基于合作4人博弈的协作防守方法;然后,针对比赛实际情况,建立了合作4人协作防守对策模型,并给出了算法描述;最后,通过仿真实验验证了该算法的正确性和有效性。

The robot soccer collaborative defense model based on the four-person cooperative game was mainly thrashed out. First, based on the study of the known defense strategies in the simulating robot soccer game, the collaborative defense method for the 5vs5 simulating robot soccer game was put forward based on the cooperative four-person game theory. Second, taking the robot soccer game into account, the model in theory was set up, and then the algorithm description was proposed. Finally, the new method was testified correct and potent by the simulating trials.