计算机工程与应用Issue(6)：37-41,107,6.DOI:10.3778/j.issn.1002-8331.1305-0506
Robocup3D仿真机器人球队决策系统模型研究
Research on decision system model of Robocup3D robotics team
摘要
Abstract
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 RoboCup3D simu-lation 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 for-mation are all improved, the collisions between the robots are also reduced, finally the combat capability of robot team is significantly improved.关键词
机器人足球/决策系统/阵形控制/角色分配/矩阵调整Key words
robotic football/decision system/lineup control/role assignment/matrix adjustment分类
信息技术与安全科学引用本文复制引用
李龙澍,方园..Robocup3D仿真机器人球队决策系统模型研究[J].计算机工程与应用,2015,(6):37-41,107,6.基金项目
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）。 （）
