足球机械人外文文献原文翻译.docx
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足球机械人外文文献原文翻译.docx
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足球机械人外文文献原文翻译
足球机械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,theballandthefieldfora2Dsoccerclients(11foreachteam)connecttotheserver,eachclientcontrollingasingleplayer.Every100mstheSoccerServeracceptscommands,viasocketcommunication,fromeachclient.Theclientsendslowlevelcommands(dash,turnorkick)tobeexecuted(imperfectly)bythesimulatedplayeritiscontrolling.Clientscanonlycommunicatewitheachotherusinganunreliable,lowbandwidthcommunicationchannelbuiltintotheSoccerServer.TheSoccerServersimulatesthe(imperfect)sensingoftheplayers,sendinganabstracted
(objects,.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.Youcancompileandinstallrcssserver3Dintwodifferentways,a"light"installationandthefullinstallation.Withthefullinstallation,yougetanadditionallibrary(calledkerosin),whichisusefultovisualizeobjectsnicely,especiallyarticulatedobjects(thisareobjectsconsistingofmorethanonegeometrylinkedwithjoints).Thesefeaturesarenot(yet)requiredforthesoccersimulation.Thelightinstallation,whichisthedefault,yougetanotsofancyOpenGLvisualization.Toenablethefullinstallation,passthe"--enable-kerosin"flagtothe`configure'shellscript.Forthegenericinstallationinstructions,seethetextbelowthespecificinstructionshere.
Requiredlibrariesforthedefaultinstallation:
(1)spades
-workingversions:
olderversionsmayalsowork;
-getitat:
projects/spades-sim;
-description:
agentmiddleware,handlestimingissuesandnetworking;
-additionalinfo:
youneedarecentversionofexpatforspades.
(2)ruby
-workingversions:
ornewer;
-getitat:
description:
scriptinglanguage;
-additionalinfo:
ifyoucompilerubyyourself,configurewithenable-shared.
(3)boost
-workingversions:
getitat:
description:
c++programmingextensions.
(4)ode
-workingversions:
;
--getitat:
projects/open-de;
--descriptions:
forsimulatingarticulatedrigidbodydynamics.
(5)OpenGL,GLUT
YouneedtheOpenGLandGLUTheadersforthevisualization.Thismaybedependentonyourgraphicscard.(GLUTistheOpenGLUtilityToolkit).
-partforexampleofXFree86-Mesa-devel;
-youshouldgetitwithyourlinuxdistro.
Small-sizeRobotLeague
Thefieldofplaymustberectangular.Thedimensionsincludeboundarylines.Length:
4900mm,Width:
3400mm.Asmall-sizeRoboCuptakesplacebetweentwoteamsoffiverobotseach(Fig4).
EachrobotmustconformtothedimensionsasspecifiedintheF180rules:
Therobotmustfitwithina180mmdiametercircleandmustbenohigherthan15cmunlesstheyuseonboardvision.Therobotsplaysocceronagreencarpetedfieldthatislongbywidewithanorangegolfball.Robotscomeintwoflavors,thosewithlocalon-boardvisionsensorsandthosewithglobalvision.Globalvisionrobots,byfarthemostcommonvariety,useanoverheadcameraandoff-fieldPCtoidentifyandtracktherobotsastheymovearoundthefield.Theoverheadcameraisattachedtoacamerabarlocated3mabovetheplayingsurface.Localvisionrobotshavetheirsensingontherobotitself.Thevisioninformationiseitherprocessedon-boardtherobotoristransmittedbacktotheoff-fieldPCforprocessing.Anoff-fieldPCisusedtocommunicationrefereecommandsand,inthecaseofoverheadvision,positioninformationtotherobots.Typicallytheoff-fieldPCalsoperformsmost,ifnotall,oftheprocessingrequiredforcoordinationandcontroloftherobots.CommunicationsiswirelessandtypicallyusesdedicatedcommercialFMtransmitter/receiverunitsalthoughatleastoneteamhasusedIRDAsuccessfully.
MiddleSizeLeague
Twoteamsof4mid-sizedrobotswithallsensorson-boardplaysocceronafield.Relevantobjectsaredistinguishedbycolors.Communicationamongrobots(ifany)issupportedonwirelesscommunications.Noexternalinterventionbyhumansisallowed,excepttoinsertorremoverobotsin/fromthefield.
2.5TheFour-LeggedLeague
InTheFour-LeggedLeague,participatingteamshavetouserobotsspecifiedbytheCompetitionCommitteewithoutanymodificationonitshardware.
In2004therearechoicesofeitherusing:
-SonyEntertainmentRobotAIBOERS-210/210A,or
-SonyEntertainmentRobotAIBOERS-7,or
-Acombinationofbothintheteam
ThefourmaintechnicalissuesassociatedwiththeSSLarethefollowing:
Robustcolorprocessingandcolortracking.Thelightingattournamenthallsisveryirregular;thereareshadowsandunpredictablevariationsduringagame.Thesoftwarehastosurmountthesedifficultieswhileprocessingvideoframesprovidedbyinexpensivecameras.Inrecentyears,mostgoodteamshavesolvedtheseissues,andwedonotseethemlosingtherobotsortheball.
Robustmechanicaldesign.ArobotabletoplayatagoodlevelintheSSLmustbefast(1-2m/smaximalspeed)andabletoresiststrongcollisions.Typically,SSLrobotscanfallfromatableandcontinueplaying.Therehasbeenanewemphasisinmechanicaldesignduringthelasttwoyearswiththeintroductionofsuchinnovationsasomnidirectionaldrive(Cornell2000)anddribblingbarsthatallowrobotstocontroltheballandpassit(Cornell2001).
Robustwirelesscommunications.ThismightbeconsideredthesinglemostimportantunsolvedissueintheSSL.MostteamsusethesameRFchipsandthishasledtosignificantinterferenceproblemsinthe
past.Tournamentshavebecometoolongbecauseitisverydifficulttoschedulesimultaneousgames.AsolutionsuchasWaveLancardsorBluetoothm
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