Robot Soccer System of SOTY 5 for Middle League MiroSot

摘要

Developing a multi-agent system amounts to searching for a method to implement an intelligent system composed of multiple cooperative agents with independent motion control. Multi-agent systems are more flexible and fault tolerant as several simple robot agents are easier to handle and cheaper to build compared to a single powerful robot for di#erent tasks. Middle League MiroSot is a suitable testbed for multi-agent system research. The soccer game is di#erent from other multiagent systems, in that the robots in one team have to cooperate in the face of competition from the opponent team. The multi-agent control algorithm must comprise of low level kinematics and dynamics, and high level strategies to avoid obstacles and to compete with the opponent robots. In such a dynamic environment, a robot needs fast processing algorithms and a suitable robot structure. This paper presents the development of an SOTY 5 team robot for the Middle League MiroSot game. The e#ectiveness of the new robot soccer team will be demonstrated at the 2002 FIRA Cup.