Research on the Approach of Task Decomposition in Soccer Robot System

摘要：

Task decomposition is an important research topic of mission planning in multi-robot system, which directly influences on the task allocation effect Aiming at the task decomposition problem of soccer robot system, this paper proposed an approach of task decomposition based on court division and soccer gravitational field. Firstly, we deeply analyzed the production mechanism of total mission and the characteristic of subtask in soccer robot system;and then, after giving the formalized definition of subtask, we presented the methods to determine subtasks target point and direction angle as well as the dynamic adjustment strategy of task decomposition scheme. The results of simulation experiment demonstrate that the task decomposition algorithm addressed in this paper has less dependence on environment information of soccer match. It reduces the complexity of task allocation and improves the whole efficiency of mission planning as well.

关键词： soccer robot system mission planning task generation task decomposition subtask

作者: Jianping Chen Yimin Yang Liang Wei

作者单位: Faculty of Automation Guangdong University of Technology Guangzhou, China Faculty of Computer scienc Faculty of Automation Guangdong University of Technology Guangzhou, China

会议类型: 国际会议

会议名称: 2010 International Conference on Digital Manufacturing and Automation(2010 数字制造与自动化国际会议 ICDMA 2010)

会议地点: 长沙

会议语种:英文

页码: 284-289

在线出版日期: 2010-12-18（万方平台首次上网日期，不代表论文的发表时间）