Robocup中型机器人系统及多机器人协作研究
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摘要
随着多机器人系统越来越广泛的应用，多机器人协作也受到了越来越多学者的关注，它是多机器人系统中一个关键部分，直接关系到系统完成任务的效率、成本和优劣。足球机器人系统是一个极富挑战性的研究平台，它融合了实时视觉处理、无线通讯、多机器人协作等多个领域的技术。机器人足球环境下的多机器人协作可以应用到很多领域中，具有重要的意义。本文以RoboCup中型机器人作为研究对象，分别从机器人自身系统和多机器人协作系统两个方面进行了研究，主要研究成果如下：
首先，研究了中型机器人的软硬件体系结构问题，针对实时比赛的要求，提出了万向轮机构的设计方案，大大改进了传统两轮机器人结构，动作反应更加灵活，该机构能够很好的适应节奏越来越快的比赛；针对万向轮机构，设计了3节点的底层电机控制系统，它可以通过串口与上层笔记本电脑快速通讯，能够很好的实现实时工作要求；针对机器人射门时击球力量和速度的问题，设计了一套电机驱动的舌形弹簧射门机构，机械结构简单，占用空间体积小，控制电路简单，较好的满足了比赛中实时射门的要求。
其次，研究了足球环境下的多机器人控制体系结构的问题，提出了协作规划层、协调规划层和行为控制层三层体系结构。在协作规划层中，通过对静态分区和动态分区策略的比较，设计了Robocup中型机器人组比较实用的基于本垒的静态分区策略；分析了多机器人的队形控制，针对不同的比赛情况设计了相应的队形，并运用Petri网建立了模型；在协调规划层中，分析了角色转换的原理，并建立了相应的Petri网模型；在行为控制层中，设计了机器人的基本动作、技术动作和战术动作，并给出了相应的程序实现。此外，还运用Petri网理论建立了传球模型、后卫模型、守门员模型和前锋射门模型。针对Petri网模型的冲突和死锁问题，分别提出了动态角色分配协议和可达标识图的解决方法，并进行了仿真验证。
With the increasing application of multi-robot system, more and more people were concerned with multi-robot cooperation. As a key part of multi-robot system, multi-robot cooperation had a direct effect on the efficiency, the the cost and the performance of running the system. As a multi-agent system, soccer robot system was a challenging research platform, which combined with many technologies, such as real-time vision manipulation, wireless communication, multi-robot cooperation, etc. Multi-robot cooperation in the robot soccer environment could be applied to many fields, and it had practical significance. In this paper RoboCup Mid-size Robot are the object of study from the two sides of the robot system and the system of multi-robot cooperation, the main research results are as follows:
First, this paper reasearches the problom of the hardware and software architecture of Mid-size robots. According to the real-time requirements of the competition, the paper designs the mechanism of omni-direction wheels, which achieves a great improvement on the traditional mechanism of two wheels robot, and a more flexible response. This mechanism can adapt well to the increasingly rapid pace of the competition. In allusion to the mechanism of omni-direction wheels, this paper designs the electrical control system of three nodes in the bottom, which could communicate fast to the laptop with serial port and match the real-time requirements well. According to the problom of hitting power and speed of robot when shooting, this paper designes a motor-driven tongue-shaped spring shooting mechanism, which has a simple mechanical structure, smaller space in size and simple control circuit. This shooting mechanism meets the real-time requirements of the competition better.
Second, this paper reasearches the problom of multi-robot control architecture under soccer environment, and gives the three-layer structure of the collaborativel, coordinate and behavior-control. In the layer of collaboration, according to the static and dynamic regional strategy for the district, this paper designs a mid-size robot group of practical strategies based on home plate in the static area, and analyses the control of multi-robot formation, and designs the corresponding formation according to the different games, which use Petri nets to set up models. In the layer of coordination, analyses the principle of robot role change, and set up the corresponding model with Petri net. In behavior-control layer, designs the basic skills, technic skills and tactical skills of mid-size robot, and gives the corresponding program. In addition, this paper also set up Pass model, fullback model , goalkeeper model and forwards shoot model with the theory of Petri net. According to the conflict and Deadlock of Petri net model, this paper gives the solution of the protocol of dynamic role allocation and the graph of reachable markings separately, which have been validated in the simulation.
首先，研究了中型机器人的软硬件体系结构问题，针对实时比赛的要求，提出了万向轮机构的设计方案，大大改进了传统两轮机器人结构，动作反应更加灵活，该机构能够很好的适应节奏越来越快的比赛；针对万向轮机构，设计了3节点的底层电机控制系统，它可以通过串口与上层笔记本电脑快速通讯，能够很好的实现实时工作要求；针对机器人射门时击球力量和速度的问题，设计了一套电机驱动的舌形弹簧射门机构，机械结构简单，占用空间体积小，控制电路简单，较好的满足了比赛中实时射门的要求。
其次，研究了足球环境下的多机器人控制体系结构的问题，提出了协作规划层、协调规划层和行为控制层三层体系结构。在协作规划层中，通过对静态分区和动态分区策略的比较，设计了Robocup中型机器人组比较实用的基于本垒的静态分区策略；分析了多机器人的队形控制，针对不同的比赛情况设计了相应的队形，并运用Petri网建立了模型；在协调规划层中，分析了角色转换的原理，并建立了相应的Petri网模型；在行为控制层中，设计了机器人的基本动作、技术动作和战术动作，并给出了相应的程序实现。此外，还运用Petri网理论建立了传球模型、后卫模型、守门员模型和前锋射门模型。针对Petri网模型的冲突和死锁问题，分别提出了动态角色分配协议和可达标识图的解决方法，并进行了仿真验证。
With the increasing application of multi-robot system, more and more people were concerned with multi-robot cooperation. As a key part of multi-robot system, multi-robot cooperation had a direct effect on the efficiency, the the cost and the performance of running the system. As a multi-agent system, soccer robot system was a challenging research platform, which combined with many technologies, such as real-time vision manipulation, wireless communication, multi-robot cooperation, etc. Multi-robot cooperation in the robot soccer environment could be applied to many fields, and it had practical significance. In this paper RoboCup Mid-size Robot are the object of study from the two sides of the robot system and the system of multi-robot cooperation, the main research results are as follows:
First, this paper reasearches the problom of the hardware and software architecture of Mid-size robots. According to the real-time requirements of the competition, the paper designs the mechanism of omni-direction wheels, which achieves a great improvement on the traditional mechanism of two wheels robot, and a more flexible response. This mechanism can adapt well to the increasingly rapid pace of the competition. In allusion to the mechanism of omni-direction wheels, this paper designs the electrical control system of three nodes in the bottom, which could communicate fast to the laptop with serial port and match the real-time requirements well. According to the problom of hitting power and speed of robot when shooting, this paper designes a motor-driven tongue-shaped spring shooting mechanism, which has a simple mechanical structure, smaller space in size and simple control circuit. This shooting mechanism meets the real-time requirements of the competition better.
Second, this paper reasearches the problom of multi-robot control architecture under soccer environment, and gives the three-layer structure of the collaborativel, coordinate and behavior-control. In the layer of collaboration, according to the static and dynamic regional strategy for the district, this paper designs a mid-size robot group of practical strategies based on home plate in the static area, and analyses the control of multi-robot formation, and designs the corresponding formation according to the different games, which use Petri nets to set up models. In the layer of coordination, analyses the principle of robot role change, and set up the corresponding model with Petri net. In behavior-control layer, designs the basic skills, technic skills and tactical skills of mid-size robot, and gives the corresponding program. In addition, this paper also set up Pass model, fullback model , goalkeeper model and forwards shoot model with the theory of Petri net. According to the conflict and Deadlock of Petri net model, this paper gives the solution of the protocol of dynamic role allocation and the graph of reachable markings separately, which have been validated in the simulation.
引文
[1] 赵忆文．移动机器人体系结构及多机器人协调规划研究：[博士学位论文]．沈阳：中国科学院沈阳自动化研究所，2000
[2] 战强，王树国，陈在礼．世界多机器人技术的研究现状．机器人技术与应用，1999，12(2)：10-14
[3] 陈忠泽，林良明，颜国正．基于MAS(Multi-agent System)的多机器人系统：协作机器人学发展的一个重要方向．机器人，2001，23(4)：368-373
[4] 李实，徐旭明，叶棒，孙增沂．国际机器人足球比赛及相关技术．机器人，2000，(9)：420-426
[5] http://www.robocup.org
[6] http://www.fira.net
[7] RoboCup Federation. RoboCup F-180 League Rules(2006)
[8] RoboCup Federation RoboCup 2006 Referee Box
[9] Bennewitz M, Burgard W, Thrun S. Optimizing schedules for prioritized path planning of multi-robot systems. IEEE International Conference on Robotics and Automation. Seoul: IEEE, 2001: 271-276
[10] Sugihara K, Smith J. Genetic Algorithms for Adaptive Planning of Path and Trajectory of A Mobile Robot in 2D Terrains. IEICE Transactions on Information and Systems, 1999, E82-D (1): 309-317
[11] T. Simeon, S. Leroy and J. P. Laumond. Path Coordination for Multiple Mobile Robots: A Resolution Complete algorithm. IEEE Transactions on Robotics and Automation, 2002, 18(1): 42-49
[12] Costa-Castello, R., Basanez, L.. Understanding workspace structure of multi-robot systems, 1999 7th IEEE International Conference, 1999, Vol. 1: 129-135
[13] Farineili, A., Iocchi, L., Nardi, D.. An analysis of coordination in Multi-Robot Systems, 2003 IEEE International Conference, 2003, Vol. 2: 1487-1492
[14] J. Ferber. Multi-Agent Systems. Addison-Wesley, 1999
[15] Y Cao, A. Fukuna, &A. Kahng. Cooperative mobile robotics: Antecedents and directions. Autonomous Robots, 1997, (4), 7-27.
[16] 杨东勇．多机器人协作的学习与进化方法：[博士学位论文]．杭州：浙江大学，2004
[17] 江志斌．Petri网及其在制造系统建模与控制中的应用．机械工业出版社，2004，39-53
[18] James L, Peterson. Petri Net Theory and the Modeling of Systems, Englewood Cliffs, Nj, Prentice-Hall Inc, 1981
[19] 蒋昌俊．Petri网的行为理论及其应用．高等教育出版社，2003：38-42
[20] 钟文燕．铁路信号系统的Petri网建模与分析研究：[学位论文]，2005
[21] 乐晓波，汪琳，度清．面向对象的Petri网建模技术的研究．计算机工程，2002，(5)：86-88
[22] 张祺，基于视觉的机器人足球系统研究：[博士学位论文]．广东：广东工业大学，2003
[23] 王宏，艾海舟．移动机器人体系结构与系统设计．机器人，1993，15(1)：49-54
[24] 李尚荣，孙刚，陈盛，朱璐．RoboCup小型足球机器人结构设计与分析．机械与电子，2003，(5)：49-51
[25] 薛方正，徐心和，冯挺．集控式足球机器人决策与控制系统设计与开发．机器人，2005，(5)：431-435
[26] 陈盛，李永新，朱璐．全向移动机器人的结构设计与姿态控制研究．2004机器人足球赛研讨会会议论文集，2004，127
[27] 徐永民，张培仁，郑旭东．四轮F180型机器人的设计与控制．2004机器人足球赛研讨会会议论文集，2004，16
[28] 海丹．全向移动平台的设计与控制：[学位论文]．长沙：国防科学技术大学，2005
[29] 范永．多机器人协作与控制研究：[博士学位论文]．北京：中国科学院自动化研究所，2000
[30] Jorg P. Muller. The Design of Intelligent Agents, a Layered Approach. Springer, 1996
[31] 陈仁际．基于Agent的分布协作式多机器人系统协作控制研究及实现：[博士学位论文]．哈尔滨：哈尔滨工业大学．1999
[32] 白鹏，刘洪亮，陈小平．基于战术思想的全局策略．马斯特杯2003年中国机器人大赛及研讨会，2003：1-5
[33] 夏吴．机器人足球系统的策略研究：[硕士学位论文]．长沙：国防科学技术大学，2002
[34] 汤哲，孙增沂．机器人足球中的协作．第四届全球智能与自动化大会论文集．上海，2002：469-473
[35] 董胜龙，陈卫东，席裕庚．移动机器人的时间最优编队．控制与决策，2001，16(5)：573-576
[36] J. -h. Kim, K. -C. Kim, Y. -J. Kim. Path Planning and Role Selection Mechanism for Soccer Robots. Proc. of the IEEE Int. Conf., 1998
[37] M. Jamzad, H. Chitsaz, A. Foroughnassirai. Basic Requirements for a teamwork in middle size RoboCup, RoboCup 2001: Robot Soccer. World Cup V (Lecture Notes in Artificial Intelligence Vol. 2377), 2002, 621-626
[38] Wang F. -Y. A Petri-net coordination model for an intelligent mobile Robot. Proceedings of the 29th IEEE Conference on Decision and Control (Cat. No.90 CH2917-3), 1990, 3: 1531-1536.
[39] 孙建玲．基于Petri网的航空项目数据动态管理模型研究：[硕士学位论文]．西安：西北工业大学，2005
[40] 刘培志，周卫华，樊利霞，等．分布式仿真中实时网络通讯技术研究．计算机仿真，2000，17 (5)：48～52
[41] 吴洁明，杨文龙．用Petri网进行并发系统的描述与分析．北方工业大学学报．1991，3(3)：77-84
[42] 周炎涛，李立明．现代操作系统中的多进程技术及其应用．现代计算机(专业版)，2002，139 (5)：75～78．
[43] 徐甲同，方敏著．操作系统教程(第二版)．西安：西安电子科技大学出版社，1999
[44] 曾成碧，陈光藕．可达树分析法及其在测试中的应用．电子科技大学学报，1999，28(5)：524-526
[2] 战强，王树国，陈在礼．世界多机器人技术的研究现状．机器人技术与应用，1999，12(2)：10-14
[3] 陈忠泽，林良明，颜国正．基于MAS(Multi-agent System)的多机器人系统：协作机器人学发展的一个重要方向．机器人，2001，23(4)：368-373
[4] 李实，徐旭明，叶棒，孙增沂．国际机器人足球比赛及相关技术．机器人，2000，(9)：420-426
[5] http://www.robocup.org
[6] http://www.fira.net
[7] RoboCup Federation. RoboCup F-180 League Rules(2006)
[8] RoboCup Federation RoboCup 2006 Referee Box
[9] Bennewitz M, Burgard W, Thrun S. Optimizing schedules for prioritized path planning of multi-robot systems. IEEE International Conference on Robotics and Automation. Seoul: IEEE, 2001: 271-276
[10] Sugihara K, Smith J. Genetic Algorithms for Adaptive Planning of Path and Trajectory of A Mobile Robot in 2D Terrains. IEICE Transactions on Information and Systems, 1999, E82-D (1): 309-317
[11] T. Simeon, S. Leroy and J. P. Laumond. Path Coordination for Multiple Mobile Robots: A Resolution Complete algorithm. IEEE Transactions on Robotics and Automation, 2002, 18(1): 42-49
[12] Costa-Castello, R., Basanez, L.. Understanding workspace structure of multi-robot systems, 1999 7th IEEE International Conference, 1999, Vol. 1: 129-135
[13] Farineili, A., Iocchi, L., Nardi, D.. An analysis of coordination in Multi-Robot Systems, 2003 IEEE International Conference, 2003, Vol. 2: 1487-1492
[14] J. Ferber. Multi-Agent Systems. Addison-Wesley, 1999
[15] Y Cao, A. Fukuna, &A. Kahng. Cooperative mobile robotics: Antecedents and directions. Autonomous Robots, 1997, (4), 7-27.
[16] 杨东勇．多机器人协作的学习与进化方法：[博士学位论文]．杭州：浙江大学，2004
[17] 江志斌．Petri网及其在制造系统建模与控制中的应用．机械工业出版社，2004，39-53
[18] James L, Peterson. Petri Net Theory and the Modeling of Systems, Englewood Cliffs, Nj, Prentice-Hall Inc, 1981
[19] 蒋昌俊．Petri网的行为理论及其应用．高等教育出版社，2003：38-42
[20] 钟文燕．铁路信号系统的Petri网建模与分析研究：[学位论文]，2005
[21] 乐晓波，汪琳，度清．面向对象的Petri网建模技术的研究．计算机工程，2002，(5)：86-88
[22] 张祺，基于视觉的机器人足球系统研究：[博士学位论文]．广东：广东工业大学，2003
[23] 王宏，艾海舟．移动机器人体系结构与系统设计．机器人，1993，15(1)：49-54
[24] 李尚荣，孙刚，陈盛，朱璐．RoboCup小型足球机器人结构设计与分析．机械与电子，2003，(5)：49-51
[25] 薛方正，徐心和，冯挺．集控式足球机器人决策与控制系统设计与开发．机器人，2005，(5)：431-435
[26] 陈盛，李永新，朱璐．全向移动机器人的结构设计与姿态控制研究．2004机器人足球赛研讨会会议论文集，2004，127
[27] 徐永民，张培仁，郑旭东．四轮F180型机器人的设计与控制．2004机器人足球赛研讨会会议论文集，2004，16
[28] 海丹．全向移动平台的设计与控制：[学位论文]．长沙：国防科学技术大学，2005
[29] 范永．多机器人协作与控制研究：[博士学位论文]．北京：中国科学院自动化研究所，2000
[30] Jorg P. Muller. The Design of Intelligent Agents, a Layered Approach. Springer, 1996
[31] 陈仁际．基于Agent的分布协作式多机器人系统协作控制研究及实现：[博士学位论文]．哈尔滨：哈尔滨工业大学．1999
[32] 白鹏，刘洪亮，陈小平．基于战术思想的全局策略．马斯特杯2003年中国机器人大赛及研讨会，2003：1-5
[33] 夏吴．机器人足球系统的策略研究：[硕士学位论文]．长沙：国防科学技术大学，2002
[34] 汤哲，孙增沂．机器人足球中的协作．第四届全球智能与自动化大会论文集．上海，2002：469-473
[35] 董胜龙，陈卫东，席裕庚．移动机器人的时间最优编队．控制与决策，2001，16(5)：573-576
[36] J. -h. Kim, K. -C. Kim, Y. -J. Kim. Path Planning and Role Selection Mechanism for Soccer Robots. Proc. of the IEEE Int. Conf., 1998
[37] M. Jamzad, H. Chitsaz, A. Foroughnassirai. Basic Requirements for a teamwork in middle size RoboCup, RoboCup 2001: Robot Soccer. World Cup V (Lecture Notes in Artificial Intelligence Vol. 2377), 2002, 621-626
[38] Wang F. -Y. A Petri-net coordination model for an intelligent mobile Robot. Proceedings of the 29th IEEE Conference on Decision and Control (Cat. No.90 CH2917-3), 1990, 3: 1531-1536.
[39] 孙建玲．基于Petri网的航空项目数据动态管理模型研究：[硕士学位论文]．西安：西北工业大学，2005
[40] 刘培志，周卫华，樊利霞，等．分布式仿真中实时网络通讯技术研究．计算机仿真，2000，17 (5)：48～52
[41] 吴洁明，杨文龙．用Petri网进行并发系统的描述与分析．北方工业大学学报．1991，3(3)：77-84
[42] 周炎涛，李立明．现代操作系统中的多进程技术及其应用．现代计算机(专业版)，2002，139 (5)：75～78．
[43] 徐甲同，方敏著．操作系统教程(第二版)．西安：西安电子科技大学出版社，1999
[44] 曾成碧，陈光藕．可达树分析法及其在测试中的应用．电子科技大学学报，1999，28(5)：524-526
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