Study of Robot Soccer Decision-Making System with Two-layer

Robot soccer tournament is in dynamic, unpredictable, real-time environments. It is a typical Multi-Agent system. This paper implements a robot soccer system based on the behavior theory, which is mainly composed of the basic behaviors device, the aggression model and the defense model. We choose the two-layer decision making system which have a detailed analyze of advantages of the framework system. In this model, behavior-based system is accepted as robot controller, which makes robot become a unit with certain ability of self-command. Decision-making subsystem is the pivotal part of whole system. Its characters, picking up information and deciding cooperative role intentionally, indicate that the whole system has some characters of agent. With the help of computer simulating technology, the robot team is provided with the capability of study. We established the models and empoldered the strategies of the game on the computer. And we transplanted the optimized strategy to the robots team after thousands of tests.