足球机器人的研究是个多学科交叉的研究领域，它涵盖了机器人学、数据融合、智能控制、图像处理、通信和机电一体化等科技领域，并且已成为研究多智能体和人工智能的理想实验平台。机器人比赛时，如何在复杂多变的动态环境下选择合适的策略及多机器人之间的协调合作都是足球机器人决策系统的关键。本文正是从足球机器人决策系统的两个关键问题出发，根据决策系统对智能性和准确性的要求，结合博弈论算法研究了足球机器人决策系统的对抗策略选择和多机器人之间的协调与合作。 本文依托西安科技大学学科群机器人实验室平台，对足球机器人决策系统和博弈论算法进行分析和研究。从机器人对抗的角度出发，提出了一种基于不完全信息博弈的机器人对抗决策方法。其次，从机器人合作的角度出发，探讨了联盟博弈应用于多机器人之间协调与合作的问题，并对两种博弈模型进行了分析和求解。通过仿真结果可以看出：基于不完全信息博弈的机器人对抗策略方法可以大大缩小机器人策略选择的范围；联盟博弈理论在多机器人合作中的应用可以使得机器人角色随着赛场态势的转变而动态变化。 针对我们的四轮机器人持球不稳的问题，对足球机器人的硬件——持球装置进行了改进，在足球机器人全景摄像头的下方增加了以两个功率为12W的直流电机为核心的辅助装置，从而提高了机器人持球的稳定性，增加了比赛获胜的机率。 最后，在实际的足球机器人系统实验平台上，实践证明了论文的研究方法对于球队整体竞技水平的提高有明显的帮助，并改善了机器人的持球机率和机器人之间相互配合的协调性。

Soccer robot system is a cross-fields science, which covers robotics, data fusion, intelligent control, image processing, communication, mechanical-electrical integration etc. Meanwhile, soccer robot system provides a standard test-bed for the research of multi-agent systems (MAS) and artificial intelligent. In robot-soccer game, how to choose the right strategy and the mutual coordination among robots in the complex and dynamic environment is the key to the decision-making system of robot. From the two key problems of the decision-making system, the confrontation strategy and the cooperation among robots are researched according to the requests of intelligence and accuracy of the decision-making system and combining the game theory in this paper. The decision-making system of robot and the algorithm of game theory are analyzed and studied relying on the soccer robot platform which is provided by the discipline groups of xi’an university of science and technology. From the angle of opposability, the confrontation strategy based on incomplete information game is proposed. Then, from the angle of cooperation, the cooperative game used in coordination and cooperation among robots is discussed. Finally, the two game models are analyzed and solved. Through the simulation results, it can be see that the incomplete information game algorithm can reduce considerably the effective strategy scope, and the cooperative game algorithm used in coordination and cooperation among can make the robot take turns with the change of situation dynamically. Owing to the instability of holding device of four-wheel robot, the holding device of soccer robot is improved. The auxiliary devices with a core of two direct current motors whose power is 12W are added to enhance the stability of holding ball and increased the probability of winning the game. Lastly, it is verified that the above-mentioned methods boosted obviously the competitive level of the whole robot team, as well as improved the holding probability and the mutual cooperation among robots.