半自主足球機(jī)器人控制系統(tǒng)研究與開(kāi)發(fā).pdf

1、華北電力大學(xué)（北京）碩士學(xué)位論文半自主足球機(jī)器人控制系統(tǒng)研究與開(kāi)發(fā)姓名：周越申請(qǐng)學(xué)位級(jí)別：碩士專業(yè)：計(jì)算機(jī)應(yīng)用技術(shù)指導(dǎo)教師：吳克河20030201嬰圭塑笙奎二蘭!圭壁豎絲豎型墮叢——一^bstractR0botsocceristhecomboofsportsandartificalintelligence。Itincludeshightech、amusementandcompetition。Robotsoccer，referringto

2、thefieldsofrobotics、intelligentcontrol、datafusion、computertechnologY、Ⅵqrelesscommunication、imageprocessing、artificiallife、mechanicsandSOon，isagoodtestbedformulti’agentsystemandmultimbottheoryItalsooffersavividresearchmod

3、elfortheresearchingworksofthemultiagentsystemtheorythereforeitmakesthetheoryandpracticecompactedcloselyThewholesystemconsistsoffoursubsystems：robots、vision、decisionmakingandcommunicationsubsystemAccordingtoMIROSOTwhenthe

4、matchisrunning，thedecisionmakingsubsystemcontrolsormanipulatestherobotsbyprocessinginformation，whichincludesrobDtsandball’SposturefromvisionsubsystemwithahostcomputerandsendscommandtobotsdirectlyInordertosufficetheneedof

5、thecompetition，therobotsshouldsatisfythefollowingdemands：flexibility、smoothing、robustness、easymaintenance、mecompletesizewithin75cm。75cm75cmThepaperdescribesthewholesystem’Sperformance，analyzesthecommunicationandrobotssub

6、system，bringsthewayhowtorealizeitThecontentincludesradiocommunication、CPU、driveandtransmissionunit，sensorpowerresource，softdesign，thetechnicsofantidisturbingThepaperalsodiscusseskindsofarithmetictheoryforcontrollingthedi