机器人足球比赛中的动态路径规划研究与系统软件设计

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1、西北工业大学硕士学位论文机器人足球比赛中的动态路径规划研究与系统软件设计姓名：刘雪飘申请学位级别：硕士专业：计算机应用技术指导教师：李孝安20060301AbstractSoccerrobotsystemisatypicalmulti-·agentsystemandmulti—-robotcooperativesystem．Furthermore，itprovidesanewstmadardtest—bedandtheoreticalresearchmodelforreal—timeartificialintelligencewithmulti—agentsyst

2、ems．Inthispaper,themainresearchonsystemsoftwaredesignandpathplanningforsoccerrobotsystemisintroduced．Firstly,someusefuldesignrulesonobject—orienteddesign(OOD)areintroduced．TheytellUShowtorespondthechangeofdesigndesirethroughverysmalldesignalteration,aSchangingofdesigndesireisinevitabl

3、ewithinthedevelopmentphase．Secondly,somedesignpatternswhichareusedinthedevelopmentofsoccerrobotsystemareanalyzedandsummarized．Designpatternsmakeiteasiertoreusesuccessfuldesignsandarchitectures，andhelpUSchoosedesignalternativesthatmakeasystemreusableandavoidaltemativesthatcompromisereu

4、sability．Thirdly,theUnifiedModelingLanguage(UML)isusedtomodelthesoccerrobotsystem．ByusingUMLtobuildusecasediagrams，statediagams，sequencediagramsandclassdiagramsforthesoccerrobotsystem，wecalllookatthesystemgeneralizeaspectsindifferenceperspectivesthroughthesediagramsandmakecleartherela

5、tionofthesecomponent．Finally,consideringtherealtimeanduncertaintyenvironmentinsoccerrobotgame．anewpathplanningmethodbasedonstatisticalandforecastiSpresented．111emethodconsideringtwouncertaintyofmotionobstacle：velocityuncertaintyanddirectionuncertmnty,Usingprobabilitystatisticstomodeli

6、ngobstaclemotion．Thesoccerrobotwillsetupaforecastwindowandobstacleavoidancewindowduringtheprocessofitsmo、，ing，accordingtothesoccerrobotpositionandtheobstacleforecastareainobstacleavoidancewindoW．nesoccerrobotwillcombinestangentpathmethodandrollingpathmethodtoexecutepathplanning．Tllism

7、ethodisalocalpathplanning．ThesoccerrobotneedsupdatetheenvironmentinformationandexecutepathplanningCOntinual．nlcreSultoftheexperimentandappliedresearchindicate：thepathplanningcanadaptrealtimeanddynamiccircumstanceinsoccerrobotgame，hadobtainedthegoodeffectintheactualcompetition．Keywords

8、：Socc