摘要
基于RoboCup3D仿真机器人足球最新平台,以缩短机器人的个体决策时间、快速收敛球队队形并统一个体决策与全队决策为目的,构建了球队层次化的决策系统模型。在此模型下具体实现了全队的阵形控制、角色位置分配和协作配合。基于矩阵最小调整的思想,实现了一个全局最优且比当前现有算法耗时更少的角色分配算法,为球队的阵形控制提供了最优分配方案。结合对比实验,最终结果显示该模型和算法大幅度减少了机器人的决策时间,球队整体同步性、队形收敛速度提高,机器人之间碰撞次数减少,球队整体作战能力提升。
In order to reduce the decision time of robots, speed up the formation convergence as well as unify the individual decision and the team decision, a hierarchical model of team decision system is built based on the latest Robo Cup3 D simulation platform. It supports a specific framework to realize the lineup control, role assignment and cooperation. Based on the method of adjusting matrix minimally each time, a global optimal role assignment algorithm, which is provided for robot individual decision and costlier than previous algorithms, is implemented. By comparative experiments, the final results show that the decision time of robots is much reduced, the unification of team decision and the convergence speed of formation are all improved, the collisions between the robots are also reduced, finally the combat capability of robot team is significantly improved.
出处
《计算机工程与应用》
CSCD
北大核心
2015年第6期37-41,107,共6页
Computer Engineering and Applications
基金
安徽省自然科学基金(No.090412054)
安徽高等学校省级自然科学基金(No.KJ2011Z020)
关键词
机器人足球
决策系统
阵形控制
角色分配
矩阵调整
robotic football
decision system
lineup control
role assignment
matrix adjustment
