基于路径开销的机器人足球角色分配设计

Design of Role Assignment Based on Path Cost of Robocup

小型足球机器人的决策系统是一个多智能体协调控制系统,主要由视觉信息处理、协调策略、角色分配、动作实现等组成。本文对角色分配机制进行研究,提出了一种路径开销组合最优的角色分配算法,实现了Play策略下动态角色分配的整体设计。仿真平台测试表明了机器人的整体配合能力有较大提高。

Strategy system of small-size Robocup robot is a multi-agent system of coordination and control, which mainly includes vision information processing, coordination tactics, role assignment, action implementation and so on. To do research for role as- slgoment in this paper, a role assignment algorithm of optimal combinatorial path cost is propesed and realizes whole design of dy- namic role assignment based on Play tactics. The test of simulation platform shows that ability of overall cooperation is improved greatly.