类人足球机器人决策系统的设计

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Title:

Designing a decision-making system for humanoid soccer robots

文章编号:

1673-4785(2008)03-0239-06

作者:

陈永利; 刘国栋;

江南大学通信与控制工程学院; 江苏无锡;

Author(s):

CHEN Yong-li; LIU Guo-dong

School of Communication and Control Engineering; Jiangnan University; Wuxi 214122; China

关键词:

类人机器人;  决策系统;  有限状态机;  进攻策略

Keywords:

humanoid robot;  decision-making system;  FSM;  offensive strategy

分类号:

TP242.6

文献标志码:

A

摘要:

类人机器人足球比赛是机器人足球比赛的最高赛事.类人足球机器人的决策系统是基于独立视觉的自主决策系统,很大程度上决定着比赛的胜败.介绍了自主研发的类人足球机器人决策系统的架构及实现方法,并在此基础上运用有限状态机理论,对单个机器人的自主进攻策略进行了详细分析和研究,真实环境中的实验及比赛结果证明了其有效性.该决策系统的设计及研究工作对基于自主决策的多智能体协作以及服务性机器人决策系统的研究都具有重要的价值.

Abstract:

Soccer p layed by humanoid robots is the highest level of robot soccer. The humanoid soccer robot’s deci2 sion2making system is based on independent vision and determines, to a large extent, the results of any competi2 tion. This paper introduces a framework and imp lementation methods for a decision2making system for such robots. On this basis, the offensive strategy of a single humanoid soccer robotwas analysed and studied in detail using finite state machine ( FSM) theory. Physical experiments in the lab environment and results in actual competitions p roved the validity of the system design. The research offers important developments for both multi2agent collaboration based on independent decision2making and the study of active robot decision2making systems