基于多智能体理论的机器人足球决策系统研究

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1、分类号：TPl8p732573单位代码：学号：密级：10005S200202076北京工业大学硕士学位论文题磊基至垒蟹篚签爨途笪扭疆厶星窭迭筮基堡班巍英文并列题网—RESEARCHON—ROBOTSOCCERDECISION-捌坠趔昼曼Y曼!坠坠曼△墨基墅Q基丛旦坠!!：△堡墼堕!：研究生效名：塑亟迢一——专业：控制堡迨当趋剑工狸导师姓柘：蓥巍膣研究方向：蟹熊控剑职称：副熬攫论文报告提交日期趔§笙I圆学位授予日期——授予尊谴名稼和遗址l塞立羔塑杰兰垫塞壶塑豳廷垩基国lQ壁墨一——AbstractNowadays。theresearcho

2、fmulti—agentsystemisanimportantissueanddevelopingdirectionoftheartificialintelligencefield，Becauseofthecharactersofcomp／exit瓠non-linear,dynamicanduncertaintyof氇ecompetitionenvironmentandi{sgoatthatneedsmulti—agentcooperationtowinthegame，therobotsoccerbecomesanexperimentp

3、latformfortheresearchofintelligentcontrolandartificialintelligence．Abriefintroductionaboutrobotsoccersystemincludingmaintechnology,historyandsignificance勰presentedinthispaperaswella3thetheoryofrobotsoccersystem,hardwareandcontroisystem．Themainachievementsareasfoflows：l、S

4、tudyanddesignofthethreelayercontrolmodel．Somedevelopmentsweremadeinthefollowingfields：G)BasicMovementLayer：BaSicmovementsoftherobotincludingturningt。theappointedangle，gettingtotheappointedpointandmovingwithappointedspeedweredesignedaccordingtothesoccermodeloftherobot．(2)

5、PathPlanningLayer：Researchandrealizationofperpendicularbisectormethodandpotentialfie撼methodofclassicalmethods，(3)HarmonizerLayer：ControlmodelWaSsctupusingareadividingmethod．7kindsofmatchtacticsweresetupaSweUasmodelsthatrolesassignedusingtherelativepositionmethod．2、Akindo

6、fcontrolmodelconsistsoftWOlayerswassetup。RobotWasregard猫allintellectualbodywithsomeintelligenceotherthanmerelyallexecutivebody．Usingtheadvantageofcentralizedcontrolandmulti—agentplantheory,aframeworkmodelincludingonecontrolcoordinateintellectualbodyand3plancarryoutintell

7、ectualbodywasbuildup．Relevantprogramsweredesignedtoo。3、Akindofshootalgofithna％Vasdesignedutilizingreactiveagenttheory．ExtematenvironmentWaSregardasakindofstimulatiOn，therobotdoesnotneedtomakepathplanandjasttOactbythisstimulation．Theresearchhastestedandexperimentedonthero

8、botSoccerprogramowned姆BjU王Keywordsmulti—agent；robotsoccer；reacfiveagent；decision—makingprocessII独创性声明本人