基于双层决策模型的足球机器人决策系统

设计并实现了基于行为的足球机器人系统：主要包括基本行为器和进攻、防守模块的设计与实现。采用双层的决策系统，主动完成知识提取并确定机器人协同任务的特性，使整个系统具有智能体的特征。计算机仿真技术给机器人球队提供“学习”能力，在计算机上建立模型、开发比赛策略，反复试验后可将成功的策略移植到实际的机器人球队上进行比赛。

Robot Soccer System Based on the Decision-making Model with Two-layers

This paper implement a robot soccer system based on behavior theory,which mainly includes designs and implementations of the base behavior containers and the attack and defense units.We adopt the decision-making model with two-layers which we have a detailed analyze of advantages of the framework system.Decision-making subsystem is the pivotal part of whole system.Its characters,picking up information and deciding cooperative role intentionally,indicate that the whole system has some characters of agent.In this model,behavior-based system is accepted as robot controller,which makes robot become a unit with certain ability of self-command.It consists of centralized-control and individual-control,is more close to the reality.Its layers are more reasonable in logic and more meaningful in physical structure,which easy to be analyzed and optimized.