Neural networks for the control of soccer robots

摘要

In 1995 robot soccer was introduced with the purpose to develop intelligent, cooperative multi-robot (agents) systems. Robot soccer provides a good opportunity to test control strategies and methods of Multi-Agent-Systems. From the scientific viewpoint a soccer robot is an intelligent, autonomous agent which should carry out its task in cooperative, coordinated, and communicative way with other agents. The group behavior of agents and the behavior of a single agent should be explored. One of the single agent's behaviors is the motion control. The desired velocity of each wheel is generated and sent to the robot comparing the desired and actual position of the robot. The mostly used motion controller today is the digital PID-controller. In this paper as a "modern", intelligent control algorithm a neural network will be introduced and tested by simulation as well as the real robots.