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介绍了足球机器人系统以及决策子系统结构，该结构分为数据信息预处理，角色分配，动作安排，轮速输出。详细说明了基于机器人足球比赛的多智能体协作角色分配问题，提出了一种优化综合指标进行角色分配的方法．并在实际系统中得到验证。
This paper introduces the structure of football robot system and decision-making subsystem. The structure is divided into data information preprocessing, role assignment, motion scheduling and wheel speed output. A detailed description of multi-agent collaborative role assignment based on robotic soccer match is presented, and a method of optimizing the overall indicators for role assignment is proposed. And in the actual system to be verified.