Questions of role switching among multi-intelligent agent cooperation in robot soccer are described based on enhanced Petri-net (EPN). Results of simulation have confirmed the feasibility and efficiency of above Petri-net method.

• 同时,考虑到机器人足球赛中队员间协作频繁,本文还提出一种相应的角色转换机制,并利用我们提出的增强式Petri网(EPN)对角色转换的典型实例进行了建模与仿真,仿真结果表明Petri网方法处理该类问题的优越性,还反映出该转换机制的可行性和有效性。