資源描述：
《機(jī)器人足球比賽中的動(dòng)態(tài)路徑規(guī)劃研究與系統(tǒng)軟件設(shè)計(jì)》由會(huì)員上傳分享，免費(fèi)在線閱讀，更多相關(guān)內(nèi)容在學(xué)術(shù)論文-天天文庫(kù)。
1、西北工業(yè)大學(xué)碩士學(xué)位論文機(jī)器人足球比賽中的動(dòng)態(tài)路徑規(guī)劃研究與系統(tǒng)軟件設(shè)計(jì)姓名：劉雪飄申請(qǐng)學(xué)位級(jí)別：碩士專業(yè)：計(jì)算機(jī)應(yīng)用技術(shù)指導(dǎo)教師：李孝安20060301AbstractSoccerrobotsystemisatypicalmulti-·agentsystemandmulti—-robotcooperativesystem．Furthermore，itprovidesanewstmadardtest—bedandtheoreticalresearchmodelforreal—timeartificialintelligencewithmulti—agentsyst
2、ems．Inthispaper,themainresearchonsystemsoftwaredesignandpathplanningforsoccerrobotsystemisintroduced．Firstly,someusefuldesignrulesonobject—orienteddesign(OOD)areintroduced．TheytellUShowtorespondthechangeofdesigndesirethroughverysmalldesignalteration,aSchangingofdesigndesireisinevitabl
3、ewithinthedevelopmentphase．Secondly,somedesignpatternswhichareusedinthedevelopmentofsoccerrobotsystemareanalyzedandsummarized．Designpatternsmakeiteasiertoreusesuccessfuldesignsandarchitectures，andhelpUSchoosedesignalternativesthatmakeasystemreusableandavoidaltemativesthatcompromisereu
4、sability．Thirdly,theUnifiedModelingLanguage(UML)isusedtomodelthesoccerrobotsystem．ByusingUMLtobuildusecasediagrams，statediagams，sequencediagramsandclassdiagramsforthesoccerrobotsystem，wecalllookatthesystemgeneralizeaspectsindifferenceperspectivesthroughthesediagramsandmakecleartherela
5、tionofthesecomponent．Finally,consideringtherealtimeanduncertaintyenvironmentinsoccerrobotgame．a(chǎn)newpathplanningmethodbasedonstatisticalandforecastiSpresented．111emethodconsideringtwouncertaintyofmotionobstacle：velocityuncertaintyanddirectionuncertmnty,Usingprobabilitystatisticstomodeli
6、ngobstaclemotion．Thesoccerrobotwillsetupaforecastwindowandobstacleavoidancewindowduringtheprocessofitsmo、，ing，accordingtothesoccerrobotpositionandtheobstacleforecastareainobstacleavoidancewindoW．nesoccerrobotwillcombinestangentpathmethodandrollingpathmethodtoexecutepathplanning．Tllism
7、ethodisalocalpathplanning．ThesoccerrobotneedsupdatetheenvironmentinformationandexecutepathplanningCOntinual．nlcreSultoftheexperimentandappliedresearchindicate：thepathplanningcanadaptrealtimeanddynamiccircumstanceinsoccerrobotgame，hadobtainedthegoodeffectintheactualcompetition．Keywords
8、：Socc
