机器人足球比赛策略仿真系统的设计与建模

16120043J.NORTHCHINAUNIV.OFTECH.Vol.16No.1Mar.2004(,100041,)(Multi2AgentSystem).,.(MIROSOT)..,,.;;;;TP242(Multi2AgentSys2tem),..,,.FIRA(SimuroSot)MiroSot,MiddleLeagueSimuroSot(5vs5)LargeLeagueSimuroSot(11vs11),.,,,.MiddleLeagueSimuroSotYujin,RSS,AdobeDirector,.,Havok,Havok(SDK).,,Adobe3DMax.LargeLeagueSimuroSot,2D.Client/Server,UDP/IP.,Client,.MiddleLeagueSimuroSot,()(),.:20031030:,.:.©1995-2005TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.1,,,:(XRi,YRi,ARi:i;VRi:i;VRTi:i;(Xb,Yb,Ab):;Vb,a0:;Vp,a1:;MR,mb:;T:.1.1(1).:S=VRi+12aT2(1)a,.,i:XRi=XRi+ScosARi(2)YRi=YRi+ScosARi(3)(2).:(1)XRi=XRi+RSin(/2)cos(ARi+/2)(4)YRi=YRi+Rsin(/2)sin(ARi+/2)(5)ARi=ARi+(6)1R,.1.2,,:S=VbT-12aT2,a=mbg(7),,:Xb=Xb+Scosa0(8)Yb=Yb+Ssina0(9)1.3(),,,.,,:12MRV2Ri+12mbV2b=12MRV2Ri+12mbV2b(10)MRVRi+mbVb=MRVRi+mbVb(11)VRTi=1VRi,Vp=2Vb(12)1,2.2,(Behavior),(Ac2tion).2.1(1)..,,.,,(),.,:(1).(2).1,D,a.(2).6216©1995-2005TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.,.,:,.(2)..,.FR1=1/S21,FR2=2S22(13)FR=FR1+FR2(14)FR1,FR2,12,FR..22.2(1).,.,.3,4.:(1);(2),lbh.3,4.(2).4,.,.,,,(5):Vbt/Vrt=(Xi-Xb)2+(Yi-Yb)2(Xi-Xr)2+(Yi-Yr)2(15)(3).,,6.,.721:©1995-2005TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.5(4).,(7)..,.,.6733.1,,,.8,.,.:(1),,,.(2),,.8,,,.,,.,8216©1995-2005TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.,.3.2,,,.,,,.,,.,.,,,,.,,.,..,.,,3-0-0(3),0-2-1(,2,1).(),.,IfThen,:IfBallPositionInEnemyareaThenMyRobotAttack();ElseMyRobotDefend();3.3,MiddleLeagueSimuroSot3DMaxMatlab.,VC++,,.,.4,.,,,.1KukHyun,HanJungYi.ChoiHoon,KangPilSoon,SeJoong,LeeSeokHyun,Moon,1996Micro2robotdesignandstrategyforMIROSOT.1996Micro2RobotWorldCupSoccerTournamentProceedings,19962SungHoKim,JongSukChoi,JaeKwonKim,ByungKookKim,Acooperativemicrorobotsystemplayingsoc2cer:Designandimplementation,RoboticsandAu2tonomousSystem.1997,21:771893JohnHarvey,ChaoCheng,DennisMichaelson.High2LevelDesignofaMIROSOTSimulator,1996Micro2RobotWorldCupSoccerTournamentProceedings,19964TheLawsoftheGame.Micro2RobotWorldCupSoccerTournament,19975Hyun2SikShim,Heung2SooKim,Myung2JinJung,In2HwanChoi,Jong2HwanKim.Designingdistributedcon2trolarchitectureforcooperativemulti2agentsystemanditsreal2timeapplicationtosoccerrobot.RoboticsandAu2tonomousSystem.1997,21:491656Remcodeboer,jellekok.Theincrementaldevelopmentofasyntheticmulti2agentsystem.20037..:,19988,,,.Server.,2000(2):1381419,,..,2001(7):949710.2003.:,2003(36)921:©1995-2005TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.demicPublishers,19995,..(2):,19986,,..:,20007BryantRE.Graph2basedalgorithmsforBooleanfunctionManipulation.IEEETransactiononComputers.1986,C-35(8):6776918,,.C++.:,20009..,2002,7(1):121710,..[J],1999,186191MissionModelandResearchofMemoryStructureinMCTLSystemDuHuiLiZheyingLuoLi(DepartmentofElectronicsEngineering,SchoolofElectronicsandInformationEngineering,BeijingJiaotongUniversity,100044,Beijing,China)AbstractAnewcheckingmethodMCTLispresentedatfirst.ItcanbeusedinsystemverificationfordesigningGSI.Toestablishmission2flowaggregateisakeypointinthissystem.Therefore,inthisarticleamemorystructureforbasicfunctionaloperatorsandconstraintconditionsisdetermined.Thismemorystructurecannotonlysavespaceandtime,butalsomeettherequirementsofmission2flow.KeyWordsverification;MCTL;mission;operator;memorystructure(29)EstablishmentofSimulationSystemofRobotFootballMatchStrategyDaiHaoLiXiaojian(CollegeofElectromechanicalEngineering,NorthChinaUniv.ofTech.,100041,Beijing,China)AbstractMulti2agentsystemisbecominganewproblemintheintelligentrobotfieldinrecentyears.Itmainlyexploreshowthemulti2robotscooperateandcollaboratewitheachotherinordertoachieveacertaingoalundervariousadverseenvironments.MIROSOTWorldCupmatchisaneconomicalandtypicalexperimentalfieldformulti2agentsystemresearch.Thispapermainlydiscussesthenecessarymatchstrategiesfortherobotfootballsimulationmatch.Firstly,itdescribesthedynamicmodelingoftherobotfootballmatch.Secondly,itbringsfor2wardthebasicbehaviourandmotionsimulation.Finally,itdiscussesthestrategiesfortherobotfootballmatch.KeyWordsmulti2agentsystem;robotfootballmatch;modeling;strategy;simulation6316©1995-2005TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.