基于Internet的足球机器人系统及其特性

本文在分析遥操作系统的基础上,研究了基于互联网的遥操作足球机器人系统研究的必要性。提出了一种基于Internet的C/S模式的足球机器人遥操作实验系统,描述了实现人机交互比赛的现场部分和远程操作部分的信息流程图。详细论述了实验系统控制软件规划及总控、视觉、策略协调、串口通讯、网络通讯等各部分关键技术。基于Windows操作系统,采用VC++开发工具,结合Winsock网络编程技术,开发了基于HLA框架的分布式足球机器人仿真系统。依据比赛规则实现了Internet上的机器人足球比赛。该系统充分模拟了实际的机器人足球比赛过程,通过比赛实验,验证了该系统的稳定性和可靠性。

This paper studies the necessity of the robot soccer over the Internet on the basis of analysing the tele-operation system, presents a new system architecture of the robot soccer over the Internet based on C/S, describes the information flowchart of the local site and the remote sites, realizes a human-robots interactive game over the internet, does some researches on its characteristics, and describes the architecture, software programming and the key technology of each parts in details. The whole system adopts the technology of Windows operation system, VC+ +, and Winsock network programming. The distributed simulation system of robot soccer over the Internet is based on HLA. The competitions that rely on the regulations were finished. The results show that this system can simulate the whole process of soccer competitions of human being, and meet the demands of stability and reliability.