足球机器人外文文献原文翻译Word文档格式.docx

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RoboCupisaStagewhichImpulsethe

ResearchofBasicTechnologyinRobot

1Introduction

RoboCupisaninternationaljointprojecttopromoteArtificialIntelligence（AI）,robotics,andrelatedfield.ItisanattempttofosterAIandintelligentroboticsresearchbyprovidingastandardproblemwherewiderangeoftechnologiescanbeintegratedandexamined.RoboCupchosetousesoccergameasacentraltopicofresearch,aimingatinnovationstobeappliedforsociallysignificantproblemsandindustries.TheultimategoaloftheRoboCupprojectisby2050,developateamoffullyautonomoushumanoidrobotsthatcanwinagainstthehumanworldchampionteaminsoccer（Fig1）.

Inorderforarobotteamtoactuallyperformasoccergame,varioustechnologiesmustbeincorporatedincluding:

designprinciplesofautonomousagents,multi-agent

collaboration,strategyacquisition,real-timereasoning,robotics,andsensor-fusion.

RoboCupisataskforateamofmultiplefast-movingrobotsunderadynamic

environment.RoboCupalsooffersasoftwareplatformforresearchonthesoftware

aspectsofRoboCup（Burkhard02）.

OneofthemajorapplicationsofRoboCuptechnologiesisasearchandrescueinlargescaledisaster.RoboCupinitiatedRoboCuprescueprojecttospecificallypromoteresearchinsociallysignificantissues.

Inthenextsectionwewillintroducetheorigin,organizationandleaguesofRoboCup.Section3wewilldiscusstherelativetechnologyinRoboCup.

2TheOrigin,OrganizationandLeaguesofRobocup

TheconceptofRoboCupwasfirstintroducedbyprofessorofAlanMackworthin1993.ThemaingoalofRoboCupistoproposeachallengedresearchissuetodeveloprobotic.Followingatwo-yearfeasibilitystudy,inAugust1995,anannouncementwasmadeontheintroductionofthefirstinternationalconferencesandfootballgames.

NowRoboCupSoccerisdividedintothefollowingleagues:

Simulationleague（2D,3D）,Small-sizerobotleague（f-180）,Middle-sizerobotleague（f-2000）,Fourleggedrobotleague,Humanoidleague.InJuly1997,thefirstofficialconferenceandgameswereheldinJapan.Theannualeventsattractedmanyparticipantsandspectators.

2.1RoboCup2D-SimulationLeague

TheRoboCup2D-simulationleagueusesasimulatorcalledtheSoccerServertodothesoccersimulation.TheSoccerServerprovidesastandardplatformforresearchintomultiagentsystems.TheSoccerServersimulatestheplayers,theballandthefieldfora2Dsoccermatch.22clients（11foreachteam）connecttotheserver,eachclientcontrollingasingleplayer.Every100mstheSoccerServeracceptscommands,viasocketcommunication,fromeachclient.Theclientsendslowlevelcommands（dash,turnorkick）tobeexecuted（imperfectly）bythesimulatedplayeritiscontrolling.Clientscanonlycommunicatewitheachotherusinganunreliable,lowbandwidthcommunicationchannelbuiltintotheSoccerServer.TheSoccerServersimulatesthe（imperfect）sensingoftheplayers,sendinganabstracted（objects,e.g.playersandball,withdirection,distanceandrelativevelocity）interpretationoffieldofvisiontotheclientsevery150ms.Thefieldofvisionoftheclientsislimitedtoonlyapartofthewholefield.TheSoccerServerenforcesmostofthebasicrulesof（human）soccerincludingoff-sides,cornerkicksandgoalkicksandsimulatessomebasiclimitationsonplayerssuchasmaximumrunningspeed,kickingpowerandstaminalimitations（Bom99）.

Anextraclientoneachteamcanconnectasa“coach”,whocanseethewholefieldandsendstrategicinformationtoclientswhentheplayisstopped,forexampleforafree-kick.TheSoccerMonitor（Fig2）connectstotheSoccerServerasanotherclientandprovidesa2Dvisualizationofthegameforahumanaudience.Otherclientscanconnectinthesamewaytodothingslike3Dvisualization,automatedcommentaryandstatisticalanalysis.

Therearenoactualrobotsinthisleaguebutspectatorscanwatchtheactiononalargescreen,whichlookslikeagiantcomputergame.Eachsimulatedrobotplayermayhaveitsownplaystrategyandcharacteristicandeverysimulatedteamactuallyconsistsofacollectionofprogrammers.Manycomputersarenetworkedtogetherinorderforthiscompetitiontotakeplace.Thegameslastforabout10minutes,witheachhalfbeing5minutesduration.

2.2RoboCup3D-SimulationLeague

The3DcompetitionmakesuseofthesimulatorthatisbasedonthesimulationsystemintroducedattheRoboCup2003symposiumandthespadessimulationmiddlewaresystemintroducedattheRoboCup2002symposium.Itcanbedownloadedfromsourceforge（Fig3）.Oneofthegoalsforfuture3Dsoccercompetitionsistohavesimulatedrobotswitharticulatedbodies,forexamplelikehumanoidrobots.Priortocompilingandinstallingthercssserver3D,youneedtoinstallafewsoftwarepackages.