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现在的人工智能开发领域中,足球机器人系统的研究已经越来越多,足球机器人系统也是实现人工智能的一个重大的体现,足球机器人系统中最重要的一部分为决策子系统。本论文主要是描述了关于对决策子系统采取分层控制的思想进行设计,其中决策子系统分层为三层分别是协调层以及运动规划层和动作层。基于决策子系统分层后的实现的系统的最大的优势就是可扩展性强,而且适应性也提高了,通过分层,这几层之间的关系是彼此独立的。
Nowadays, there are more and more researches on soccer robot system in the field of artificial intelligence development. Soccer robot system is also a significant manifestation of artificial intelligence. The most important part of soccer robot system is decision-making subsystem. This dissertation describes the design of the idea of hierarchical control of decision-making subsystem. The three layers of decision-making subsystem are the coordination layer, the motion planning layer and the action layer. The biggest advantage of a system based on the hierarchical implementation of the decision-making subsystem is its scalability and adaptability. Through the layering, the relationships among these layers are independent of each other.