中文摘要：

针对机器人足球比赛中的协作问题,提出了一种多机器人系统协作控制方法.该方法包括时间同步机制、全局模型的建立以及角色的动态分配.该方法首先使用修改后的TPSN算法完成时间同步,然后通过机器人间共享信息的融合建立全局模型,最终通过竞标函数进行角色的动态分配,可使得机器人能够高效、稳定的完成比赛,并在实验及比赛中得到验证.

英文摘要：

To solve the coordination problem in robot soccer competition,a multi-robot system control approach was presented,including time synchronization,world model building and dynamic role as-signment.This method firstly used an improved TPSN (timing-sync protocol for sensor network)al-gorithm to synchronize time and then built a global world model by using the shared information a-mong the robots.Finally,it implemented the dynamic role assignment with bid functions.The robots could achieve the game efficiently and stably by using this method.The experiments and result of the competitions have proved the effectiveness of the approach.