机器人足球队2D仿真高层策略概述

RoboCup机器人足球队2D仿真组高层策略的设计摘要：本论文介绍了RoboCup机器人足球队2D仿真组的设计和实现，完成了一个完整的符合RoboCup2D仿真组比赛要求的机器人足球队。首先介绍了RoboCup和其仿真组比赛的背景，接着介绍了仿真组比赛的环境。从第三章开始介绍了智能体(agent)的基本结构和球队设计的思想，并重点阐述如何设计队员的各种场上能力，各球员间的配合策略，以及守门员的防守策略。此外还完成了阵形的实现和转换，以及基本的场上教练的设计。最后通过比赛对所完成的球队和使用的策略进行了分析和评估。关键词RoboCup；仿真组；智能体；配合策略iHigh-levelStrategyDesignofRoboCup2DSimulationSoccerTeamAbstractInthisthesisthedesignandimplementationofaRoboCup2DsimulationsoccerteamisintroducedandtheaimtodesignanintegratedsoccerteamwhichisqualifiedforthestandardRoboCup2Dsimulationcompetitionisfulfilled.First,thebackgroundofRoboCupanditssimulationleagueispresentedfollowedbytheintroductionofthecompetitionenvironmentofsimulationleague.Inchapterthree,thebasicstructureofanagentandtheframeworkoftheteamaredescribed.Thenhowtodesigntheskillsofasoccerplayerandcooperationstrategybetweenplayersinthefieldandthegoaliestrategyareparticularlypresented.Simultaneously,theteamformationsandtransformationbetweendifferentformationsinamatchareimplemented.Besides,arudimentaryon-linecoachisdesigned.Inthelastchaptertheanalysisandevaluationofthestrategyusedincurrentteamarecarriedoutthroughactualmatches.Keywords:RoboCup,SimulationLeague,Agent,Cooperationstrategyii目录1绪论.........................................................................................................................11.1RoboCup简介..............................................................................................11.2仿真组比赛简介..........................................................................................12球队程序的开发环境和基本结构.........................................................................32.1开发环境......................................................................................................32.2球队的基本结构..........................................................................................42.3球队启动的shell脚本.................................................................................53Agent程序的结构..................................................................................................63.1Agent各功能模块........................................................................................63.2Agent的启动和类的连接............................................................................74球员底层动作的设计.............................................................................................94.1底层动作的介绍..........................................................................................94.2底层动作的实现..........................................................................................94.2.1实现原理...........................................................................................94.2.2searchBall搜索球方法的实现.......................................................104.2.3dashToPoint跑位方法的实现........................................................125球员中、高层动作的设计...................................................................................125.1中高层动作的介绍....................................................................................125.2中高层动作的实现....................................................................................13iii5.2.1实现原理.........................................................................................135.2.2dribble带球方法的实现................................................................135.2.3interceptClose断球方法的实现.....................................................155.2.4directPass传球方法的实现............................................................166球员间配合的设计...............................................................................................176.1配合的实现方法........................................................................................176.2普通球员策略的设计................................................................................176.2.1攻击型球员策略.............................................................................176.2.2配合型球员策略.............................................................................196.3守门员策略的设计....................................................................................206.3.1守门员扑球策略.............................................................................206.3.2守门员开球门球策略.....................................................................217阵形的设计...........................................................................................................217.1阵形设计的原理........................................................................................217.2阵形在比赛中的应用................................................................................227.2.1阵形的种类.....................................................................................227.2.2阵形的转换.....................................................................................238场上教练的设计...................................................................................................248.1场上教练介绍............................................................................................248.2简单的场上教练的设计............................................................................249比赛测试