中英文1.docx

中英文1.docx

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中英文1

英文资料及中文翻译

Developmentofamulti-agentsystemforrobotsoccergame

一、Introduction

Asmodernindustrialsocietyprogresses,theneedsforusefulrobotsaregrowing.Especially,mobilerobotsarespecialissuethatgraduallyexpandsitsrealminindustrialandstudyingtopics.Researchesonmobilerobotshavebeenmainlyconcentratedonsinglemobilerobot.But,thedevelopmentofmulti-agentsystemisstronglyneededbythegrowthofcomplexityoftasksforrobotstoperform.

Themulti-agentsystemshavebeenstudiedbymanyresearchers[l-3].Generally,multi-agentsystemisdefinedasthesystemcomposedofmorethan2robots[4]andperformsthegiventaskbycooperation.Thesystemhassomedifferentfactorscomparedwithsinglerobotsystem.First,theenvironmentforrobotstoconfrontisdynamic.Inmulti-agentsystem,therobotsthemselvesconstitutedynamicenvironment,becauseeachrobotshouldrecognizetheotherrobotsasmovingobstacles.Manypreviousresearchesonmobilerobotsassumethattheenvironmentisstatic,evenfortheresearchesonsinglemobilerobot[5,6].Second,sincethesystemperformsgiventaskbycooperation,itisnecessarytomakeoverallsystemplanforrolesofrobots.Oneoftheobviouscharacteristicsofthemulti-agentsystemiscooperation-forexample,4-5robotscarryfurniture[7].Tocooperateoneanother,thechangesofrobotspositionmustbepredictable.Therearesomewaystoknowtherobotsposition.Forexample,robotscommunicatetheirpositiononeafteranother,orasupervisordetectsrobots'positionandtransmitsthemtorobots.Itisrelatedtocommunicationproblem.Third,eachcomponentofthesystemsuchasrobots,asupervisor,sensors,communicationequipmentiswelldeveloped,becausetheyinfluencetheoverallsystemperformance.Also,itisnecessarytoadoptappropriatearchitecture.

Robotsoccerisaninterestingdomainforstudyingthemulti-agentsystem.Theplayersmustworktogether:

Itmeansasortofcooperation.Also,theyplaythegameindynamicenvironment:

predictableandunpredictableenvironment-ourrobotsandopponent'srobots,respectively.Themainobjectistoputtheballinopponent'sgoalasfrequentlyaspossibleinpresenceofopponent'srobotswhichhavethesametask.So,accordingtoasituation,ourrobotsdecidewhichactiontheytake-defenseoroffense,howtheyworkandsoon.Inthispoint,thesystemneedsreal-timesensing,quickdecisionmakingandfastbehaviors.Itisrelatedtosystemarchitectureandalgorithms.Asdescribedabove,soccergameincludesmanycharacteristicsofmulti-agentsystemandisabundantinapplyingAItechniques.

Oneoftheadvantagesofrobotsoccergameisdirectcomparisonofdifferentsystems.Manyrobotsoccersystemsaregatheredinsomecompetitions.WeparticipatedinaSoccerrobotcompetitioninTaejon,KoreacalledMIROSOT96[8].MIROSOTmakessomerules.Therulesdescribeprecisespecificationforsoccergame.Theplaygroundisrectangularwithitslength130cm,itswidth90cm.Anorangegolfballisselectedastheplayball.Thesizeofarobotisrestrictedwithin7.5*7.5*7.5cm.Oneteamconsistsofthreerobots.Wepurposetomakesoccersystemwiththreerobots.

Inthispaper,weexplainsomefactorstobeconsideredinestablishingcompletesystem.First,sincethesystemarchitectureisveryimportant,wedecidetheoverallsystemasacentralizedon-linesystemonthebasisofsurveysofmulti-agentsystems.Second,theoverallsystemcanbedividedintothreeparts-Arobot,communicationandvisionsystem.Wedescribethespecificationsofcomponentsofeachpartandthereasonstodecidethem.Itwouldbehelpfulforlaterimprovement.

Therestofthepaperisorganizedasfollows.Section2givessomesurveysofsystemarchitecturesandselectionofoursoccerrobotsystem.Section3givesdetaileddescriptionsofimplementedhardware,especiallyminirobots.Section4givescooperationandpathplanalgorithmforrobotsoccergame.Section5givesconclusionofthispaperandpresentsfurtherworks.

二、Categorizationofmulti-agentsystemandselectionofsoccerrobotsystem

ThesurveyonthisissueiscloselyrelatedinArai'swork[4].Wecancategorizemulti-agentsystembasedontwocriteria.Oneis"Whomakesdecisionandorders?

"-Centralized/Decentralized,theotheris"Whendoesthesystemmakeplans?

"-Online/Offline.

Centralizedsystemmeansthatasupervisorintegratesallavailabledata,plansthebehaviorsofalltherobotsandmakescommands.Sinceasupervisorconsidersalltherobotssimultaneously,thesystemcanachievetheoptimizationofthemotionsofalltherobots.But,asthenumberofrobotincreases,morecomputationalpowerofasupervisorisneeded.Ifthesupervisormakesanyfault,thereisnowayfortherobotstocorrectit.

Decentralizedsystemmeansthateachrobotmakesplanforitselfonth