足球机器人外文文献原文翻译.docx
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足球机器人外文文献原文翻译.docx
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足球机器人外文文献原文翻译
足球机器人外文文献原文翻译
RoboCupisaStagewhichImpulsethe
ResearchofBasicTechnologyinRobot
1Introduction
RoboCupisaninternationaljointprojecttopromoteArtificialIntelligence(AI),robotics,andrelatedfield.ItisanattempttofosterAIandintelligentroboticsresearchbyprovidingastandardproblemwherewiderangeoftechnologiescanbeintegratedandexamined.RoboCupchosetousesoccergameasacentraltopicofresearch,aimingatinnovationstobeappliedforsociallysignificantproblemsandindustries.TheultimategoaloftheRoboCupprojectisby2050,developateamoffullyautonomoushumanoidrobotsthatcanwinagainstthehumanworldchampionteaminsoccer(Fig1).
Inorderforarobotteamtoactuallyperformasoccergame,varioustechnologiesmustbeincorporatedincluding:
designprinciplesofautonomousagents,multi-agent
collaboration,strategyacquisition,real-timereasoning,robotics,andsensor-fusion.
RoboCupisataskforateamofmultiplefast-movingrobotsunderadynamic
environment.RoboCupalsooffersasoftwareplatformforresearchonthesoftware
aspectsofRoboCup(Burkhard02).
OneofthemajorapplicationsofRoboCuptechnologiesisasearchandrescueinlargescaledisaster.RoboCupinitiatedRoboCuprescueprojecttospecificallypromoteresearchinsociallysignificantissues.
Inthenextsectionwewillintroducetheorigin,organizationandleaguesofRoboCup.Section3wewilldiscusstherelativetechnologyinRoboCup.
2TheOrigin,OrganizationandLeaguesofRobocup
TheconceptofRoboCupwasfirstintroducedbyprofessorofAlanMackworthin1993.ThemaingoalofRoboCupistoproposeachallengedresearchissuetodeveloprobotic.Followingatwo-yearfeasibilitystudy,inAugust1995,anannouncementwasmadeontheintroductionofthefirstinternationalconferencesandfootballgames.
NowRoboCupSoccerisdividedintothefollowingleagues:
Simulationleague(2D,3D),Small-sizerobotleague(f-180),Middle-sizerobotleague(f-2000),Fourleggedrobotleague,Humanoidleague.InJuly1997,thefirstofficialconferenceandgameswereheldinJapan.Theannualeventsattractedmanyparticipantsandspectators.
2.1RoboCup2D-SimulationLeague
TheRoboCup2D-simulationleagueusesasimulatorcalledtheSoccerServertodothesoccersimulation.TheSoccerServerprovidesastandardplatformforresearchintomultiagentsystems.TheSoccerServersimulatestheplayers,theballandthefieldfora2Dsoccermatch.22clients(11foreachteam)connecttotheserver,eachclientcontrollingasingleplayer.Every100mstheSoccerServeracceptscommands,viasocketcommunication,fromeachclient.Theclientsendslowlevelcommands(dash,turnorkick)tobeexecuted(imperfectly)bythesimulatedplayeritiscontrolling.Clientscanonlycommunicatewitheachotherusinganunreliable,lowbandwidthcommunicationchannelbuiltintotheSoccerServer.TheSoccerServersimulatesthe(imperfect)sensingoftheplayers,sendinganabstracted(objects,e.g.playersandball,withdirection,distanceandrelativevelocity)interpretationoffieldofvisiontotheclientsevery150ms.Thefieldofvisionoftheclientsislimitedtoonlyapartofthewholefield.TheSoccerServerenforcesmostofthebasicrulesof(human)soccerincludingoff-sides,cornerkicksandgoalkicksandsimulatessomebasiclimitationsonplayerssuchasmaximumrunningspeed,kickingpowerandstaminalimitations(Bom99).
Anextraclientoneachteamcanconnectasa“coach”,whocanseethewholefieldandsendstrategicinformationtoclientswhentheplayisstopped,forexampleforafree-kick.TheSoccerMonitor(Fig2)connectstotheSoccerServerasanotherclientandprovidesa2Dvisualizationofthegameforahumanaudience.Otherclientscanconnectinthesamewaytodothingslike3Dvisualization,automatedcommentaryandstatisticalanalysis.
Therearenoactualrobotsinthisleaguebutspectatorscanwatchtheactiononalargescreen,whichlookslikeagiantcomputergame.Eachsimulatedrobotplayermayhaveitsownplaystrategyandcharacteristicandeverysimulatedteamactuallyconsistsofacollectionofprogrammers.Manycomputersarenetworkedtogetherinorderforthiscompetitiontotakeplace.Thegameslastforabout10minutes,witheachhalfbeing5minutesduration.
2.2RoboCup3D-SimulationLeague
The3DcompetitionmakesuseofthesimulatorthatisbasedonthesimulationsystemintroducedattheRoboCup2003symposiumandthespadessimulationmiddlewaresystemintroducedattheRoboCup2002symposium.Itcanbedownloadedfromsourceforge(Fig3).Oneofthegoalsforfuture3Dsoccercompetitionsistohavesimulatedrobotswitharticulatedbodies,forexamplelikehumanoidrobots.Priortocompilingandinstallingthercssserver3D,youneedtoinstallafewsoftwarepackages.
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