Research on the Approach of Task Decomposition in Soccer Robot System

Task decomposition is an important research topic of mission planning in multi-robot system, which directly influences on the task allocation effect. Aiming at the task decomposition problem of soccer robot system, this paper proposed an approach of task decomposition based on court division and soccer gravitational field. Firstly, we deeply analyzed the production mechanism of total mission and the characteristic of subtask in soccer robot system, and then, after giving the formalized definition of subtask, we presented the methods to determine subtasks´ target point and direction angle as well as the dynamic adjustment strategy of task decomposition scheme. The results of simulation experiment demonstrate that the task decomposition algorithm addressed in this paper has less dependence on environment information of soccer match. It reduces the complexity of task allocation and improves the whole efficiency of mission planning as well.