Coordination and cooperation control method for football robots and system thereof

Abstract

The invention discloses a coordination and cooperation control method for football robots and a system thereof. The method comprises the following steps: I, self-positioning of the football robots is performed according to the quantum immune algorithm; and II, coordination and cooperation are performed by the football robots in the antagonistic process of the game according to the algorithmic game theory. The system comprises a data processor, a data memory, a serial port communication module, a wireless network card, a 1394 control card, a compass, a milemeter, an omnidirectional vision module, an intelligent power module, motion control cards and motor drive circuit modules; the output ends of the motor drive circuit modules are connected with motors; the motors are connected with motor encoders; the motor encoders and a football robot kicking mechanism are all connected with the intelligent power module; the wireless network card is connected with a football robot trainer. According to the invention, the design is novel and reasonable, the coordination ability among multiple robots is improved, the collaboration efficiency is improved, the goals are increased, the winning probability for a football robot match is improved, the using effect is good, and the popularization and use are facilitated.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a coordination and cooperation control method and system for a soccer robot. Background technique [0002] As a typical multi-agent system, the football robot competition provides a good experimental platform for the research of intelligence theory and the integrated application of various technologies, and it can take corresponding measures autonomously according to the changes of the surrounding environment during the movement of the football robot. The capability requirements are getting stronger and stronger, which involves a series of research topics such as robot positioning, path planning, coordinated control, target tracking and decision-making. [0003] The main task of the football robot competition is to coordinate the robot according to the obtained target object state, including the position and orientation of the target object; the distribution of our robot in the co...

AI Technical Summary

Problems solved by technology

[0006] In recent years, many scholars and experts have made a lot of research results. For example, the Chinese patent application number 201120008202.2 discloses an intelligent robot competition device, including mechanical parts and circuit control parts. The mechanical parts include ball tables, consoles and robots. , the circuit control part includes a control module located on the control and a controlled module located on the robot, which can form a confrontation game scene; the Chinese patent application number 201010175496.8 discloses a robot education platform, which includes a box, inside the box Clothes mechanical components, sensor unit, control unit, execution unit, interface conversion unit, task software disc and power supply module are set, which are suitable for various experiments in classroom teaching; Chinese patent application number 200410016867.2 discloses a football robot embedded directly The driving device, aiming at the deficiencies of the rotating part of the existing autonomous robot, provides a football robot driving device with a compact structure and flexible debugging, so that the robot has the functions of fast movement, precise positioning, impact resistance and strong confrontation; the application number is 201120313058.3 The Chinese patent discloses a binocular vision navigation system for an indoor soccer robot, which adopts a global infrared vision positioning method and combines sensor information to realize high-precision positioning and navigation of an indoor mobile robot. It is suitable for situations where obstacles are fixed and the environment is relatively stable, and a single robot operates

From the perspective of the existing technology, there are mainly the design of the mechanical structure of the robot platform, the transformation of the robot driving device, the fixed environment or the motion control of a single robot, and there is no case of coordination and cooperation control that can be applied to the soccer robot confrontation game, and , in the existing football robot competition, there is often a phenomenon that the football robot cannot find its own position on the football field and rotates. It often misses some scoring opportunities and delays the scoring speed

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