关键词: 机器人足球, 决策系统, 阵形控制, 角色分配, 矩阵调整

Abstract: In order to reduce the decision time of robots, speed up the formation convergence as well as unify the individual decision and the team decision, a hierarchical model of team decision system is built based on the latest RoboCup3D simulation platform. It supports a specific framework to realize the lineup control, role assignment and cooperation. Based on the method of adjusting matrix minimally each time, a global optimal role assignment algorithm, which is provided for robot individual decision and costlier than previous algorithms, is implemented. By comparative experiments, the final results show that the decision time of robots is much reduced, the unification of team decision and the convergence speed of formation are all improved, the collisions between the robots are also reduced, finally the combat capability of robot team is significantly improved.

Key words: robotic football, decision system, lineup control, role assignment, matrix adjustment