足球机械人外文文献原文翻译.docx

1、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RoboCup is a Stage which Impulse theResearch of Basic Technology in Robot1 IntroductionRoboCup is an international joint project to promote Artificial Intelligence (AI), robotics, and related field. It is an attempt to foster AI and intelligent robotics research by providin

2、g a standard problem where wide range of technologies can be integrated and examined. RoboCup chose to use soccer game as a central topic of research, aiming at innovations to be applied for socially significant problems and industries. The ultimate goal of the RoboCup project is by 2050, develop a

3、team of fully autonomous humanoid robots that can win against the human world champion team in soccer (Fig 1).In order for a robot team to actually perform a soccer game, various technologies must be incorporated including: design principles of autonomous agents, multi-agentcollaboration, strategy a

4、cquisition, real-time reasoning, robotics, and sensor-fusion.RoboCup is a task for a team of multiple fast-moving robots under a dynamicenvironment. RoboCup also offers a software platform for research on the softwareaspects of RoboCup (Burkhard02).One of the major applications of RoboCup technologi

5、es is a search and rescue in large scale disaster. RoboCup initiated RoboCup rescue project to specifically promote research in socially significant issues.In the next section we will introduce the origin, organization and leagues of RoboCup. Section 3 we will discuss the relative technology in Robo

6、Cup.2 The Origin, Organization and Leagues of Robocup The concept of RoboCup was first introduced by professor of Alan Mackworth in 1993. The main goal of RoboCup is to propose a challenged research issue to develop robotic. Following a two-year feasibility study, in August 1995, an announcement was

7、 made on the introduction of the first international conferences and footballgames. Now RoboCup Soccer is divided into the following leagues: Simulation league(2D,3D), Small-size robot league (f-180), Middle-size robot league (f-2000), Fourlegged robot league, Humanoid league. In July 1997, the firs

8、t official conference and games were held in Japan. The annual events attracted many participants and spectators.2.1RoboCup 2D-Simulation LeagueThe RoboCup 2D-simulation league uses a simulator called the Soccer Server to do the soccer simulation. The Soccer Server provides a standard platform for r

9、esearch into multiagent systems. The Soccer Server simulates the players, the ball and the field for a 2D soccer clients (11 for each team) connect to the server, each client controlling a single player. Every 100ms the Soccer Server accepts commands, via socket communication, from each client. The

10、client sends low level commands (dash, turn or kick) to be executed (imperfectly) by the simulated player it is controlling. Clients can only communicate with each other using an unreliable, low bandwidth communication channel built into the Soccer Server. The Soccer Server simulates the (imperfect)

11、 sensing of the players, sending an abstracted (objects, . players and ball, with direction, distance and relative velocity) interpretation of field of vision to the clients every 150ms. The field of vision of the clients is limited to only a part of the whole field. The Soccer Server enforces most

12、of the basic rules of (human) soccer including off-sides, corner kicks and goal kicks and simulates some basic limitations on players such as maximum running speed, kicking power and stamina limitations (Bom99).An extra client on each team can connect as a “coach”, who can see the whole field and se

13、nd strategic information to clients when the play is stopped, for example for a free-kick. The Soccer Monitor (Fig 2) connects to the Soccer Server as another client and provides a 2D visualization of the game for a human audience. Other clients can connect in the same way to do things like 3D visua

14、lization, automated commentary and statistical analysis.There are no actual robots in this league but spectators can watch the action on a large screen, which looks like a giant computer game. Each simulated robot player may have its own play strategy and characteristic and every simulated team actu

15、ally consists of a collection of programmers. Many computers are networked together in order for this competition to take place. The games last for about 10 minutes, with each half being 5 minutes duration.2. 2 RoboCup 3D-Simulation LeagueThe 3D competition makes use of the simulator that is based o

16、n the simulation system introduced at the RoboCup 2003 symposium and the spades simulation middleware system introduced at the RoboCup 2002 symposium. It can be downloaded from source forge (Fig 3). One of the goals for future 3D soccer competitions is to have simulated robots with articulated bodie

17、s, for example like humanoid robots. Prior to compiling and installing the rcssserver3D, you need to install a few software packages. You can compile and install rcssserver3D in two different ways, a light installation and the full installation. With the full installation, you get an additional libr

18、ary (called kerosin), which is useful to visualize objects nicely, especially articulated objects (this are objects consisting of more than one geometry linked with joints). These features are not (yet) required for the soccer simulation. The light installation, which is the default, you get a not s

19、o fancy OpenGL visualization. To enable the full installation, pass the -enable-kerosin flag to the configure shell script. For the generic installation instructions, see the text below the specific instructions here.Required libraries for the default installation:(1) spades- working versions: , old

20、er versions may also work;- get it at: projects/ spades-sim;- description: agent middleware, handles timing issues and networking;- additional info: you need a recent version of expat for spades.(2) ruby- working versions: or newer;- get it at: description: scripting language;- additional info: if y

21、ou compile ruby yourself, configure with enable-shared.(3) boost- working versions: get it at: description: c+ programming extensions.(4) ode- working versions: ;- - get it at: projects/ open- de;- -descriptions: for simulating articulated rigid body dynamics.(5) OpenGL, GLUTYou need the OpenGL and

22、GLUT headers for the visualization. This may be dependent on your graphics card. (GLUT is the OpenGL Utility Toolkit).-part for example of XFree86-Mesa-devel;-you should get it with your linux distro. Small-size Robot LeagueThe field of play must be rectangular. The dimensions include boundary lines

23、. Length: 4900mm, Width:3400 mm. A small-size RoboCup takes place between two teams of five robots each (Fig 4).Each robot must conform to the dimensions as specified in the F180 rules: The robot must fit within a 180mm diameter circle and must be no higher than 15cm unless they use onboard vision.

24、The robots play soccer on a green carpeted field that is long by wide with an orange golf ball. Robots come in two flavors, those with local on-board vision sensors and those with global vision. Global vision robots, by far the most common variety, use an overhead camera and off-field PC to identify

25、 and track the robots as they move around the field. The overhead camera is attached to a camera bar located 3m above the playing surface. Local vision robots have their sensing on the robot itself. The vision information is either processed on-board the robot or is transmitted back to the off-field

26、 PC for processing. An off-field PC is used to communication referee commands and, in the case of overhead vision, position information to the robots. Typically the off-field PC also performs most, if not all, of the processing required for coordination and control of the robots. Communications is w

27、ireless and typically uses dedicated commercial FM transmitter/receiver units although at least one team has used IRDA successfully. Middle Size LeagueTwo teams of 4 mid-sized robots with all sensors on-board play soccer on a field. Relevant objects are distinguished by colors. Communication among r

28、obots (if any) is supported on wireless communications. No external intervention by humans is allowed, except to insert or remove robots in/from the field. 2. 5 The Four-Legged LeagueIn The Four-Legged League, participating teams have to use robots specified by the Competition Committee without any

29、modification on its hardware.In 2004 there are choices of either using： -Sony Entertainment Robot AIBO ERS-210/210A, or-Sony Entertainment Robot AIBO ERS-7, or-A combination of both in the teamThe four main technical issues associated with the SSL are the following:Robust color processing and color

30、tracking. The lighting at tournament halls is very irregular; there are shadows and unpredictable variations during a game. The software has to surmount these difficulties while processing video frames provided by inexpensive cameras. In recent years, most good teams have solved these issues, and we

31、 do not see them losing the robots or the ball.Robust mechanical design. A robot able to play at a good level in the SSL must be fast (1-2 m/s maximal speed) and able to resist strong collisions. Typically, SSL robots can fall from a table and continue playing. There has been a new emphasis in mecha

32、nical design during the last two years with the introduction of such innovations as omni directional drive (Cornell 2000) and dribbling bars that allow robots to control the ball and pass it (Cornell 2001).Robust wireless communications. This might be considered the single most important unsolved issue in the SSL. Most teams use the same RF chips and this has led to significant interference problems in the past. Tournaments have become too long because it is very difficult to schedule simultaneous games. A solution such as WaveLan cards or Bluetooth m