機器足球員策略模擬之研究

Simulation Research for Robosoccer Tactics

黃永嘉(Yong-Jia Huang)

國立虎尾科技大學/工程學院/動力機械工程研究所/碩士(2005年)

摘要

本論文主要是做一個機器足球員策略模擬器，此模擬器是以所加入的環境參數來模擬實際之機器足球員競賽，利用OpenGL建立機器足球員策略模擬器，且對該模擬器加入碰撞及摩擦力的限制條件，以使模擬的結果能與實際機器足球員競賽相同，可方便策略規劃節省策略的開發時間，並能事先得知實際的比賽情況。測試模擬器的可用性，本文試圖利用競賽策略在此模擬器中執行，以證實模擬器的可行性。

並列摘要

This paper proposes a simulator of robot soccer’s game. This is built by OpenGL module. The impact model of robot’s collision and the model of football and environment and considered. This simulator developed can reduce the develop time for making strategy plan. By the mean fine, this simulator can also simulate physical environment of playground. Finally, develop a tool strategy to compete with Lingo and simple fuzzy strategy in order to teat the feasibility of this simulator.

參考文獻

[10] 陳澤宇，“加強式學習於零合賽局在足球機器人之應用”，中正大學電機工程研究所碩士論文，民國九十一年。

[17] 王侯禕，“足球機器人之移動模糊控制器的設計”，淡江大學電機工程學系碩士論文，民國九十二年。

[3] H.P Huang and C.C Liang, “Strategy-based decision making of a soccer robot system using a real-time self-organizing fuzzy decision tree” , Fuzzy Sets and Systems, Vol. 127, Issue 1, pp. 49-64, 2002.

[11] T.D. Barfoot and C.M. Clark, “Motion planning for formations of mobile robots”, Robotics and Autonomous Systems Volume: 46, Issue: 2, February 29, 2004, pp. 65-78.

[24] M. Bowling and M. Veloso, “Motion control in dynamoic multi-robot environments”, IEEE International Symposium on Computational Intelligence in Robotics and Automation, pp. 168-173, 1999.