半自主多机器人竞技对抗决策系统研究

Competitive Countermeasure Decision System in Semi-autonomous Multi-robot

机器人竞技以其独有的动态性、实时性等特点,逐渐成为多智能体机器人系统的研究平台。以类人型机器人为硬件平台,设计了包含视觉子系统、决策子系统以及通信子系统在内的半自主机器人的竞技对抗决策系统。然后根据类人型机器人运动特性提出攻防策略模型,设计态势评估、路径规划等相关机器人对抗决策策略。最后通过实验证明了对抗决策系统的稳定性。

Robot competition has become a research platform of multi-agent robot system with its unique dynamic and real-time characteristics.With humanoid robot as the hardware platform,a semi-autonomous robot’s competition strategy system including communication subsystem,vision subsystem and decision-making subsystem is designed.Then,according to the motion characteristics of humanoid robot,the offensive and defensive strategy model is proposed,which includes the robot strategy strategies such as situation assessment and path planning.Finally,through concrete experiments,the stability of countermeasure decision system is proved.