Simulation Robot Soccer Based on Microsoft Robotics Studio

In this paper, the main research object is the MSRS Microsoft simulation robot soccer. After the brief introduce the MSRS simulation platform, we through the introduction of the design of the three layer decision-making subsystem to discuss the structure of the decision-making system. We also design the three layer decision-making subsystem which are cooperation layer, motion planning layer, and layer of base action. In the action layer, by establishing the models of kinematics we have designed the basic actions and the technical actions for the competition.