Abstract
提出了基于粗粒度空间和垂直分解结构的控制体系结构，用于解决实时多足球机器人的对抗问题。总结了智能机器人的控制体系结构，提出了控制体系结构设计中的几个重要原则。提出了粗粒度行为的概念，寻求决策精度与系统智能和实时性的平衡，并设计了基于这种思想的控制体系结构。实现了基于这种结构的策略程序，实战证明了该方法的正确性。
Due to the strategy problem of multi soccer robots real time counterwork, a kind of control structure based on coarse granularity behaviors and vertical decomposition is presented. Several important principles in designing the control structures for robot strategy systems are brought out after the discussion of control structures of intelligent robots and Robotsoccer control structures are analyzed via space mapping method. Coarse granularity behavior is defined to get the balance among intelligence, real time quality and precision of the strategy system. The coarse granularity behavior based control structure is designed and realized in a strategy system.
Due to the strategy problem of multi soccer robots real time counterwork, a kind of control structure based on coarse granularity behaviors and vertical decomposition is presented. Several important principles in designing the control structures for robot strategy systems are brought out after the discussion of control structures of intelligent robots and Robotsoccer control structures are analyzed via space mapping method. Coarse granularity behavior is defined to get the balance among intelligence, real time quality and precision of the strategy system. The coarse granularity behavior based control structure is designed and realized in a strategy system.
| Translated title of the contribution | On control structure of robotsoccer system |
|---|---|
| Original language | Chinese (Simplified) |
| Pages (from-to) | 801-804 |
| Number of pages | 4 |
| Journal | 控制与决策/Control and Decision |
| Volume | 21 |
| Issue number | 7 |
| DOIs | |
| Publication status | Published - Jul 2006 |
| Externally published | Yes |
Funding
资助基金：国家科技攻关计划 ( 2001AA422270 )
Keywords
- Coarse granularity behavior
- Soccer robot
- Strategy system
- Vertical decomposition
- 粗粒度行为
- 策略体系
- 垂直分解
- 足球机器人