Cooperation Mechanism Of Humanoid Robots For RoboCup Standard Platform League

Multi robot system has become a hot research direction because it can complete tasks efficiently and flexibly in complex environment.RoboCup standard platform group is a typical multi robot system.Robots need to face complex,real-time dynamic environment and complete tasks under the constraints of communication conditions.Based on RoboCup standard platform group and Nao robot,this paper studies robot path planning in dynamic environment,task decomposition and weight confirmation of multi robot system,and task allocation of multi robot system.The main work is as follows:Firstly,aiming at the path planning problem of Nao robot in dynamic environment,a hybrid path planning method based on improved viewability is proposed.This method combines the advantages of global path planning and local path planning,improves the visual graph algorithm from the perspective of reducing the time complexity of the algorithm,constructs the visual graph by synchronous generation of viewability,and plans the global path.At the same time,the dynamic window method is used to avoid the dynamic obstacles on the path.Through simulation and real robot experiment,the results show that the method has good feasibility in robot soccer game.Besides,aiming at the task decomposition and weight calculation of multi robot system,a task weight calculation method based on AHP is proposed.Firstly,the decision-making framework of multi robot system is established,and the roles of multi robot system and the dynamic role assignment among multi robot systems are defined.Then,the tasks of multi robot system are decomposed,and the hierarchical structure model and behavior task tree model of multi robot system are constructed,and the task weight is calculated by using the analytic hierarchy process.Finally,a task allocation algorithm based on improved contract net protocol is proposed for multi robot system.Based on the background of robot soccer game,this method adds the bidding announcement mechanism and priority bidding strategy to the traditional contract network protocol.At the same time,the task allocation process and qualification evaluation function of traditional contract net protocol are improved to reduce the task negotiation time and enhance the cooperation ability of multi machine system.Through simulation and real robot experiment,it is proved that this method can effectively improve the efficiency of multi robot system.