Research Of The System Of Robocup Mid-Size Robot & Multi-Robot Coorperation

With the increasing application of multi-robot system, more and more people were concerned with multi-robot cooperation. As a key part of multi-robot system, multi-robot cooperation had a direct effect on the efficiency, the the cost and the performance of running the system. As a multi-agent system, soccer robot system was a challenging research platform, which combined with many technologies, such as real-time vision manipulation, wireless communication, multi-robot cooperation, etc. Multi-robot cooperation in the robot soccer environment could be applied to many fields, and it had practical significance. In this paper RoboCup Mid-size Robot are the object of study from the two sides of the robot system and the system of multi-robot cooperation, the main research results are as follows:First, this paper reasearches the problom of the hardware and software architecture of Mid-size robots. According to the real-time requirements of the competition, the paper designs the mechanism of omni-direction wheels, which achieves a great improvement on the traditional mechanism of two wheels robot, and a more flexible response. This mechanism can adapt well to the increasingly rapid pace of the competition. In allusion to the mechanism of omni-direction wheels, this paper designs the electrical control system of three nodes in the bottom, which could communicate fast to the laptop with serial port and match the real-time requirements well. According to the problom of hitting power and speed of robot when shooting, this paper designes a motor-driven tongue-shaped spring shooting mechanism, which has a simple mechanical structure, smaller space in size and simple control circuit. This shooting mechanism meets the real-time requirements of the competition better.Second, this paper reasearches the problom of multi-robot control architecture under soccer environment, and gives the three-layer structure of the collaborativel, coordinate and behavior-control. In the layer of collaboration, according to the static and dynamic regional strategy for the district, this paper designs a mid-size robot group of practical strategies based on home plate in the static area, and analyses the control of multi-robot formation, and designs the corresponding formation according to the different games, which use Petri nets to set up models. In the layer of coordination, analyses the principle of robot role change, and set up the corresponding model with Petri net. In behavior-control layer, designs the basic skills, technic skills and tactical skills of mid-size robot, and gives the corresponding program. In addition, this paper also set up Pass model, fullback model , goalkeeper model and forwards shoot model with the theory of Petri net. According to the conflict and Deadlock of Petri net model, this paper gives the solution of the protocol of dynamic role allocation and the graph of reachable markings separately, which have been validated in the simulation.