仿真足球机器人比赛技术动作设计与实现zgfga.doc

沈阳工业大学硕士学位论文格式规范 - 仿真足球机器人比赛技术动作设计与实现Design and Implementation of Action of Simulated Soccer Robot学 院：专 业 班 级： 学 号：学 生 姓 名：指 导 教 师： 摘 要机器人足球比赛是近年来人工智能和机器人领域的研究热点之一，它是高技术与娱乐性的完美结合，融合了多种学科，促进了人工智能和机器人的研究和教育。而仿真足球机器人比赛是其中的一种比赛形式，具有成本低、实际干扰因素小、实验可重复等优点，方便足球机器人的普及。在仿真足球机器人比赛中机器人的比赛动作设计有重要的基础作用，如果最终的动作执行不到位，会导致策略系统的效率低下。论文目的在于能够编程实现机器人足球比赛中的技术动作设计和运行结果的实时显示，以满足比赛的基本需求，为上层策略系统提供良好的支持。论文的工作基于国际机器人足球联盟(FIRA)仿真比赛SimuroSot 5vs5组的仿真系统The Robot Simulater，并对该平台以及机器人的运动学模型和重要动作函数的算法做了较为详细的介绍。在此平台之上使用VC++ 6.0对仿真足球机器人的基本比赛技术动作进行设计与开发，编程实现了仿真足球机器人的基本比赛动作。其中包括原地转角、到顶点、定向运动、截球、传球、射门等动作。通过对单独动作在仿真平台上实际运行效果的测试，基本达到了预期的目的，满足了比赛的基本需求，可为上层策略系统提供动作支持。关键词： 机器人足球比赛；技术动作；仿真AbstractIn recent years, robot soccer is one hot spot of the robot and artificial intelligence research fields, it is a perfect combination of high technology and entertaining .The robot soccer needs many branches of learning and promotes the artificial intelligence research and education. And the simulation soccer robot game is one form of the game of robot soccer. It costs low and can avoid form the actual interference factors and repeat in the same condition. In the simulation soccer game robot soccer action design plays an important and basic role, if the final executive does not reach the designated position, that will lead to low efficiency of the strategy system. The objective of this thesis is to accomplish the programming of the robot soccer movement design and the operation results can be real-time displayed, in order to meet the basic needs of the soccer game and provide good support to the strategy for upper system.The thesis is based on the Federation of International Robot-soccer Association (FIRA) SimuroSot 5vs5. The simulation system platform is the Robot Simulater. It gives the robot platform 、 kinematics model and the algorithms of important movement functions a detailed introduction. In this platform , by using VC++ 6.0, the robot technique actions in the simulated robot-soccer game