机器人足球系统的策略研究-计算机软件与理论专业论文.docxVIP

摘要复杂实时环境下，多智能体系统要求作为整体一部分的自治镏能体存效的合作。 摘要 复杂实时环境下，多智能体系统要求作为整体一部分的自治镏能体存效的合作。 本文研究鹣多智熊体系统罴由11个秘治智麓谇组成酌祝器入仿真怒球酞。它的王作环 境是Soccer Server，允许自治的智能体球队之间进行足球比赛。Soccer Server提供了～ 令分布式懿、惫含壤声盈台孛#每jl雩抗并存鹣实辩多餐麓棒环境，球麸戒受必须会作才 能达到赢得比赛的共同的目标。仿舆比赛模拟了许多真实世界的复杂性，如对象运动 熬嗓声，传懑器窝绥号戆臻声，蠢藩懿钵簸窝受蔽靛逶藩簿。本文豹薅多智藐髂镶域 的主骤工作包括智能体的体系结构、多智能体团队合作、个人技术、得分策略和球队 兹策蜷。 荫先，论文定义了智能体的体系结构，允许智能体将任务空间分解成炙活的角色， 执行幼傺过程中能浚畅的转换角色。它定义了蟹能佐翡焦毯、黪敬熬终黧、窝羲宠援 划好的多智能体策略。其次，按照智能程度由低到高的顺序，论述了从动作层到决策 层的灾现方法，包括枫器人的整体缝构，个人技零浆实现，褥分羧路以及运鼹优宠级 方法设计机器入的顶层决策算法来实现多个机器入的合作与对抗。论文述在总结课题 研究工作的基础上对下一步的工作做了展望。 羧后，本文还有机器入足球的简单介缁以及对先前的研究人员在机器人仿真领域 所做的工作的调查。同时它还提供了一个实体框架，为仿真机器人足球镁域将来的研 究工佟订下了萋磴。 关键蠲：RoboCup祝器入廷球 舞麓藩体系结构鏊敬龠作结构个人渤作决策 AbstractMulti—agent Abstract Multi—agent systems in complex，real—time domains require agents to cooperate effectively both autonomously and as part of a team．This dissertation is about multi—agent svstems called a robotic soccer simulation team consisting of eleven autonomous agents．It operates in a physical soccer simulation system called soccer server，which enables teams of autonomous agents tO play a game of soccer against each other．The soccer server provides a fully distributed real-time multi—agent environment with noise，collaboration and adversarial，in which teammates have to cooperate to achieve their common goal of winning the game．The simulation models many real。world complexities such as noise in object movement，noisy sensors and actuators，limited physical abilities and restricted communication．The main contributions of this thesis tO the field of Multi-agent system include agent architecture，multi-agent teamwork，individual skills，a scoring policy for simulated soccer agents and an effective teqm strategy First of all，the thesis defines the agent architecture of a team member within which a flexible team structure is presented，allowing agents tO decompose the task space into flexible roles and allowing them to smoothly switch roles while acting．It defines agent roles，team formations，and pre—compiled mul