Strategy Of The RoboCup Small-size Soccer Robot Research

The competition decision-making is the soccer robot soul, also is the centralism manifests of the fundamental research in the soccer robot assembly system. To obtain the good result in the competition, not only must have the good state of motion, but also must have the good strategy. So the countermeasure and the policy-making, multi-robots coordination as well as the route intelligence plan were considered.This thesis takes mainly the RoboCup small-size robot soccer game as a platform, by VC.NET as a tool, to study the decision system of the robot soccer game. Strategy system has carried on the simulation experiment and the actual object test. The experiment's results indicated the performance to be enhanced. It mainly manifested in:1. In the goalkeeper strategy expanded the Caiman thought was joined to forecast the ball position, and it caused the ability of the goalkeeper's guard gate to strengthen greatly.2. Introducing the dynamic cooperation formation algorithm in the cooperation strategy, it enabled the team cooperation to be stronger.3. The improvement artificial potential field law in the way plan was applied and simulated, and finally results indicated this algorithm considerably improved the robot avoiding collision.