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外文摘要
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The Robot World Cup ( RoboCup ) is a typical MAS ( Multi-agent System )
in which multi-field technology has been involved and RoboCup has been
a standard test platform to study MAS. Many theories are necessary to
build a RoboCup team, including agent designing theory, multi-agent
cooperation, strategy obtaining, real-time reasoning and so on. Based
on this general test platform, various theories of MAS can be
researched and applied to many fields. The main research and feature of
this paper are as follows. 1) The internal model and function mechanism
of RoboCup3D simulation server has been studied in this paper. On the
basis of knowledge of RoboCup3D simulation environment, we establish
RoboCup3D multi-agent system by using agent model as the
software-developing model and adopting modularized designing ideas. 2)
The world model is established in RoboCup3D environment. The agent self
location system based on Kalman filtering is researched first and it is
the basis of studying the movement submodel of agent, the movement
submodel of ball, and the kick submodel of agent. The forecasting
arithmetic of world model has been presented. 3) Using numerical
calculation method for direct-shoot model and putting forward A* search
arithmetic to search shooting path while establishing the shoot model
of RoboCup3D simulated team. To improve the efficiency of A* search in
shoot model, we reduce the manipulation for memory allocation when
entering or exiting queue, and use an array to record the node which
can be used to rebuild the path. 4) Opponent modeling is studied to
adopt rivals at different levels. Based on Computational Verb Theory,
an opponent modeling method for RoboCup has been presented. Fuzzy
generalization is used to design the computational verb controller, by
which the model of extent of opponent’s controlling ability can be
obtained to estimate opponent on-line. Based on the above research, a
RoboCup3D simulation team is designed with OOP method and this team has
been validated in the competition of China RoboCup .
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