基于免疫机理的足球机器人协作控制研究

Soccer Robot Cooperation Control Research Based on Immune Mechanism

针对Robocup中型组全自主足球机器人自主协作任务,基于人工免疫机理对机器人个体及群体体系结构进行优化,采用个体混合式体系结构与群体分布式体系提高系统性能。构建适用于比赛环境的足球机器人免疫系统模型,充分考虑模型中抗体与抗原及其他抗体间的激励和抑制作用,给出在动态环境下面临复杂协作任务时的足球机器人协调控制算法及流程,改善多足球机器人冲突的混乱局面,增强足球机器人策略行为的有效性,提高足球机器人系统的智能协作性。实验结果验证:该算法可以有效的增强足球机器人的协作能力,提高规定时间内的平均成功进功率与平均成功进球率。

Focusing on the problems of robocup medium-sized group of soccer robot cooperation, the individual and group architecture of robot is optimized based on the artificial immune system, using hybrid architecture and distributed architecture to improve the system performance. Considering the incentive and the inhibition between antigen and different antibody, the soccer robot immune system model is build and the control algorithm when faced with complex tasks in the dynamic environment of soccer robot is provided to improve the conflict chaos of multi-ro- bot, enhance the effectiveness of soccer robot strategy and increase the intelligent collaboration of the soccer robot system. The experiment results show that this algorithm can enhance the cooperation capabilities of the robot soccer effectively and increase the average success attack rate and scoring rate with in the soecified time.