足球机械人外文文献原文翻译.docx

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足球机械人外文文献原文翻译

足球机械人外文文献原文翻译

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,theballandthefieldfora2Dsoccerclients（11foreachteam）connecttotheserver,eachclientcontrollingasingleplayer.Every100mstheSoccerServeracceptscommands,viasocketcommunication,fromeachclient.Theclientsendslowlevelcommands（dash,turnorkick）tobeexecuted（imperfectly）bythesimulatedplayeritiscontrolling.Clientscanonlycommunicatewitheachotherusinganunreliable,lowbandwidthcommunicationchannelbuiltintotheSoccerServer.TheSoccerServersimulatesthe（imperfect）sensingoftheplayers,sendinganabstracted

（objects,.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.Youcancompileandinstallrcssserver3Dintwodifferentways,a"light"installationandthefullinstallation.Withthefullinstallation,yougetanadditionallibrary（calledkerosin）,whichisusefultovisualizeobjectsnicely,especiallyarticulatedobjects（thisareobjectsconsistingofmorethanonegeometrylinkedwithjoints）.Thesefeaturesarenot（yet）requiredforthesoccersimulation.Thelightinstallation,whichisthedefault,yougetanotsofancyOpenGLvisualization.Toenablethefullinstallation,passthe"--enable-kerosin"flagtothe`configure'shellscript.Forthegenericinstallationinstructions,seethetextbelowthespecificinstructionshere.

Requiredlibrariesforthedefaultinstallation:

（1）spades

-workingversions:

olderversionsmayalsowork;

-getitat:

projects/spades-sim;

-description:

agentmiddleware,handlestimingissuesandnetworking;

-additionalinfo:

youneedarecentversionofexpatforspades.

（2）ruby

-workingversions:

ornewer;

-getitat:

description:

scriptinglanguage;

-additionalinfo:

ifyoucompilerubyyourself,configurewithenable-shared.

（3）boost

-workingversions:

getitat:

description:

c++programmingextensions.

（4）ode

-workingversions:

;

--getitat:

projects/open-de;

--descriptions:

forsimulatingarticulatedrigidbodydynamics.

（5）OpenGL,GLUT

YouneedtheOpenGLandGLUTheadersforthevisualization.Thismaybedependentonyourgraphicscard.（GLUTistheOpenGLUtilityToolkit）.

-partforexampleofXFree86-Mesa-devel;

-youshouldgetitwithyourlinuxdistro.

Small-sizeRobotLeague

Thefieldofplaymustberectangular.Thedimensionsincludeboundarylines.Length:

4900mm,Width:

3400mm.Asmall-sizeRoboCuptakesplacebetweentwoteamsoffiverobotseach（Fig4）.

EachrobotmustconformtothedimensionsasspecifiedintheF180rules:

Therobotmustfitwithina180mmdiametercircleandmustbenohigherthan15cmunlesstheyuseonboardvision.Therobotsplaysocceronagreencarpetedfieldthatislongbywidewithanorangegolfball.Robotscomeintwoflavors,thosewithlocalon-boardvisionsensorsandthosewithglobalvision.Globalvisionrobots,byfarthemostcommonvariety,useanoverheadcameraandoff-fieldPCtoidentifyandtracktherobotsastheymovearoundthefield.Theoverheadcameraisattachedtoacamerabarlocated3mabovetheplayingsurface.Localvisionrobotshavetheirsensingontherobotitself.Thevisioninformationiseitherprocessedon-boardtherobotoristransmittedbacktotheoff-fieldPCforprocessing.Anoff-fieldPCisusedtocommunicationrefereecommandsand,inthecaseofoverheadvision,positioninformationtotherobots.Typicallytheoff-fieldPCalsoperformsmost,ifnotall,oftheprocessingrequiredforcoordinationandcontroloftherobots.CommunicationsiswirelessandtypicallyusesdedicatedcommercialFMtransmitter/receiverunitsalthoughatleastoneteamhasusedIRDAsuccessfully.

MiddleSizeLeague

Twoteamsof4mid-sizedrobotswithallsensorson-boardplaysocceronafield.Relevantobjectsaredistinguishedbycolors.Communicationamongrobots（ifany）issupportedonwirelesscommunications.Noexternalinterventionbyhumansisallowed,excepttoinsertorremoverobotsin/fromthefield.

2.5TheFour-LeggedLeague

InTheFour-LeggedLeague,participatingteamshavetouserobotsspecifiedbytheCompetitionCommitteewithoutanymodificationonitshardware.

In2004therearechoicesofeitherusing：

-SonyEntertainmentRobotAIBOERS-210/210A,or

-SonyEntertainmentRobotAIBOERS-7,or

-Acombinationofbothintheteam

ThefourmaintechnicalissuesassociatedwiththeSSLarethefollowing:

Robustcolorprocessingandcolortracking.Thelightingattournamenthallsisveryirregular;thereareshadowsandunpredictablevariationsduringagame.Thesoftwarehastosurmountthesedifficultieswhileprocessingvideoframesprovidedbyinexpensivecameras.Inrecentyears,mostgoodteamshavesolvedtheseissues,andwedonotseethemlosingtherobotsortheball.

Robustmechanicaldesign.ArobotabletoplayatagoodlevelintheSSLmustbefast（1-2m/smaximalspeed）andabletoresiststrongcollisions.Typically,SSLrobotscanfallfromatableandcontinueplaying.Therehasbeenanewemphasisinmechanicaldesignduringthelasttwoyearswiththeintroductionofsuchinnovationsasomnidirectionaldrive（Cornell2000）anddribblingbarsthatallowrobotstocontroltheballandpassit（Cornell2001）.

Robustwirelesscommunications.ThismightbeconsideredthesinglemostimportantunsolvedissueintheSSL.MostteamsusethesameRFchipsandthishasledtosignificantinterferenceproblemsinthe

past.Tournamentshavebecometoolongbecauseitisverydifficulttoschedulesimultaneousgames.AsolutionsuchasWaveLancardsorBluetoothm