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The soccer robot system and the effective multi agents cooperation strategy applied to the MASKARO team composed of a set of action controllers, a set of behavior module and a behavior selector are introduced. The action is the primitive low level component of the robot control system necessary to move the robots on the playground. Each action controller determines the linear and angular velocity commands of the robots corresponding to its own purpose. The behavior is the high level component of the robot control system composed of necessary action sequences. Each behavior module determines the desired action sequences and action commands corresponding to its own objective. The behavior selector considering the information that comes from the vision system selects the behavior of each robot every sampling time. Thus, the behavior of each robot is changed dynamically. The presented strategy is successfully applied to the MASKARO team and the team is ranked in the first place in the 2000 FIRA Korea Cup K League.
The soccer robot system and the effective multi-agents cooperation strategy applied to the MASKARO team composed of a set of action controllers, a set of behavior module and a behavior selector are introduced. The action is the primitive low level component of the robot control system necessary to move the robots on the playground. Each behavior module determines the linear and angular velocity commands of the robots corresponding to its own purpose. The behavior is the high level component of the robot control system composed of necessary action sequences. Each behavior module determines the The action strategy and action commands corresponding to its own objective. The behavior strategy corresponding to its own objective. applied to the MASKARO team and the team was ranked in the first place in the 2000 FIRA Korea Cup K League.