RoboCupSoccer中多机器人协作截球策略

2010，46（16）1RoboCup[1]RoboCupSoccer、RoboCupRescueRoboCupJunior2050。。RoboCupSoccer、、、、。RoboCupSoccerSoccerServer[2]2D。SoccerServer、、111。、SoccerServer、、kick、dashturn、、◎◎RoboCupSoccer1211CAIJian-huai12LIMao-qing1WUShun-xiang11.3610052.3610051.SchoolofInformationScience&TechnologyXiamenUniversityXiamenFujian361005China2.Schoolo[e-mail]tegyisanimportantfactorforthecompetitiveabilityofrobotsoccerteam.Duetotheeffectofthein－formationnoisecommandimplementationerrormulti-heterogeneoustypesandrandomheterogeneousparameterstheinterceptionstrategysimplybasedonindividualskillisnotnecessarilyreliable.FirstlymathematicalanalysismethodisadoptedtoestablishtheinterceptionindividualskillmodelandNewtoniterationmethodisusedtogetthefastestinterceptioncycleinterceptionpointandthebasiccommandqueue.ThenBPneuralnetworkisadoptedtodescribetheinterceptionsuccessprobabilitycomparingtwointerceptioncycles.Finallytherobotmakestheinterceptiondecisioncollaborativelyconsideringtheallocationofrolestheinter－ceptionsuccessprobabilityandtheplayfieldinterceptionpointlocates.Theexperimentresultsshowtheimprovementoftherole-basedcollaborationinterception.Therobotsoccerteamwithsuchstrategygetsgoodresultsinthecompetitions.KeywordsRoboCupSoccerinterceptionmodelBPneuralnetworkrole。、、。、BP、。。。RoboCupSoccerBPDOI10.3778/j.issn.1002-8331.2010.16.0011002－8331201016-0001-05ATP183theNationalNaturalScienceFoundationofChinaunderGrantNo.60704042No.20080768004985。1975－1953－1967－。2010-02-222010-04-07ComputerEngineeringandApplications1ComputerEngineeringandApplications2010，46（16）5101520253035404550454035302520151050XZCb1Cb2Cb3Cb1′Cb2′CrPt2Pt1PbP2P1P31、、、、。。[3-10]、、、、。、、、、。、BP、。2turndash、、、turndash。dashmaxpowerturn0turnangle。Stone[4]。。、X-YXZSoccerServer。Cpx-x02+y-y02≤maxspeed*z+kickarea2z≥01x0y0maxspeedkickarea。Cbx=sb*1-bdecayz1-bdecayy=0z≥02sbbdecay1。CbCp。CbX-ZCpCrx-x02+y02≤maxspeed*z+kickarea2y=0z≥03Crsb。sbCbCr1sbsb1sb21Pt1Pt2。sb0sb1sb2+∞11Cb1Cb1′sbsb1sb221Cb2Cb2′sbsb1sb231Cb3。CrPt1Pt2sb1sb2。CbCr。CrPbCb1。3P1、P2P3。P1PbPt1P2Pt2Pt1P3Pt2。fCbxCbfCrxCrxi+1=xi-fCrxi-fCbxif′Crxi-f′Cbxi4。f′Crx0maxspeedf′Crxxi+1=xi-fCrxi-fCbxi0-f′Cbxi5xi+1=xi-fCrxi-fCbximaxspeed-f′Cbxi6Pb5xiP1。Pb6P2P+∞5P3。7zt89zdzt、zd10。0。11。、。turnangle=angle1.0+inertiamoment*sz7azxazy=effort*dashrate*maxpower*cosθzsinθz822010，46（16）RoboCupSoccero1okolW1WkWly1V1x1y2x2yjymVnxnxn-1xi………………2BPsz+1xsz+1y=pdecay*szxszy+azxazy+rzxrzy9pz+1xpz+1y=pzxpzy+szxszy+azxazy+rzxrzy10sb′=sb*bdecayzt+zd11aθsprsinertiamoment、effort、dashratepdecay。3BP3.1BP。BP[11]。BP。。。。。。。2BP。ok=fmj=0Σwjkyjk=12…l-1l12yj=fni=0Σvijxij=12…m-1m13fx、S。EE=12lk=1Σdk-ok2dk14E=12lk=1Σ[dk-fmj=0Σwjkyj]215E=12lk=1Σ{dk-f[mj=0Σwjkfni=0Σvijxi]}216E△wjk=-η鄣E鄣wjk△vij=-η鄣E鄣vijη∈0117η。BP。、、[12]。3.2、BP。。BP、。S。160。。、。。16081402068MSE1.0E-61000010。68、1。1。2-16-125003。3ComputerEngineeringandApplications2010，46（16）GLFBMBSMMMSFMF0.580.550.530.530.550.520.500.600.580.560.510.520.470.450.630.610.590.480.500.420.400.670.630.610.510.520.370.350.700.650.630.530.550.320.303GLFBMBSMMMSFMFGL－0.430.400.330.360.300.30FB0.56－0.460.380.400.330.33MB0.580.520.500.430.460.360.36SM0.620.580.550.500.520.450.43MM0.600.560.530.47－0.400.39SF0.640.600.570.530.550.500.45MF0.660.620.590.560.570.47－244.111。4331GL、4、3341FB3MB32SM1MM32SF1MF。。、、calculateSITCTITCiOITCjMTITC=min{TITC1TITC2…TITCi…TITCm}MOITC=min{OITC1OITC2…OITCj…OITCn}ITSPST=FSITCMTITCifITSPST≥TVrrthen{ITSPSO=FSITCMOITCifITSPSO≥TVrfthen{executeinterception}else{giveupinterception}}else{giveupinterception}SITC、TITCiOITCj、。mn。。FBP。ITSPSTITSPSO。TVrr。TVrf。TVrrTVrf23。4.22009RoboCup2D[13]8720。5CPUIntelCore2DuoE6300SoccerServer12SoccerServer13.1.0。、20、4。。。485.7%。。calculateSITCTITCiOITCjMTITC=min{TITC1TITC2…TITCi…TITCm}2-4-1100008.257E-51.029E-42-16-129689.973E-71.857E-62-8-1100001.362E-55.831E-52-20-113569.955E-72.526E-62-12-163179.981E-73.502E-62-24-14919.942E-73.778E-61BP1.00.90.80.70.60.50.40.30.20.10504540353025201510550454035302520151052130042010，46（16）WrightEagleHeliosOxsyBrainstormersOxBlueHelliBASHNemesis1316161327114610659767974/%GL118/12991.5124/13691.2109/11793.283/9191.275/7896.282/8596.569/7197.293.4FB261/32779.8288/32887.8279/34281.6265/32082.8248/29284.9250/30582.0267/31086.183.5MB253/30184.1292/35981.3289/32888.1280/34082.4257/29387.7261/30286.4248/29982.984.6SM264/29689.2271/30588.9268/33580.0213/25882.6265/32481.8298/33389.5270/30887.785.6MM275/32584.6263/32381.4263/29988.0320/37685.1241/29581.7228/28679.7270/32982.183.3SF252/30782.1260/29987.0258/31382.4318/37085.9314/36286.7333/40382.6340/38588.385.1MF304/37581.1250/29883.9267/32183.2257/29686.8281/31888.4278/33682.7302/37281.283.7/%83.885.484.384.685.784.485.184.8//%//%//%//%//%//%//%5WrightEagleHeliosOxsyBrainstormersOxBlueHelliBASHNemesis55106410758767103712531532/%GL95/10293.184/9192.3106/11592.283/8696.572/7398.668/6998.675/7698.795.3FB193/2