全自主足球机器人通信子系统的设计与实现

全自主足球机器人系统涉及到在未知的动态环境中多机器人的协同工作,如何实现各足球机器人之间的高效实时通信是一个关键的问题。通信需要解决对话管理、对话协议和通信平台三个问题。其中,对话管理为机器人之间的信息交换提供各种连接方式;对话协议是机器人之间对协作信息内容和格式的约定;通信平台则是实现信息交互的物理硬件。该文采用基于CSMA/CA的无线局域网,建立了全自主足球机器人通信子系统的通信平台;建立了基于C/S模式的对话管理;并为多机器人系统的协作问题求解提出了一套可行的对话协议。实验证明该设计可行。

Design and Implementation of Communication Subsystem of Autonomous Robot Soccer

Autonomous robot soccer system consists of a multi-robot that needs to cooperate in unpknow,dynamic,and competitive environment.Thus,it is a crucial issue how to realize effective and real time communications among soccer robots.There are three problems which should be solved in communication,they are dialog management ,dialog protocol,and communication platform.The dialog management provides some connect mode to exchange information among agents.The dialog protocol is an aggregate of stipulation about communication matter and its format.The communication platform is a physic hardware to realize the information exchange.In this paper,we set up the communication platform of a com-munication subsystem of autonomous soccer robot with a WLAN based on CSMA/CA,and set up its dialog management with C/S model,and offer a viable dialog protocol for cooperation problem solving of Multi-robot System.It is shown that the design is effective,efficient robust.