面向足球机器人比赛的开放式仿真系统

作者：秦丰林，李晓明，汪嵩杰 日期：2009-12-30/span> 浏览：2944 查看PDF文档

面向足球机器人比赛的开放式仿真系统

秦丰林，李晓明，汪嵩杰
（浙江理工大学 机械与自动控制学院，浙江 杭州 310018）

摘要：为了克服传统的RoboCup小型组足球机器人仿真系统只能针对特定球队进行仿真的不足，提出了一种面向RoboCup小型组足球机器人比赛的开放式仿真系统，用于在不同球队间进行仿真对抗比赛。采用“平台/插件”软件体系结构构建了系统的软件模型。在详细分析各个软件模块的基础上，使用ODE库等工具实现了这一开放式的仿真系统。最后，提出了开放式仿真系统“插件”的编写方法和不同球队间进行仿真比赛的一般步骤。研究结果表明，开放式仿真系统可以实现不同球队间的仿真比赛。
关键词：RoboCup；足球机器人；开放式仿真系统；计算机仿真
中图分类号：TP391.9; TP24文献标识码：A文章编号：1001-4551(2009)12-0062-04

Open simulation for the robot soccer
QIN Feng-lin, LI Xiao-ming, WANG Song-jie
(Faculty of Mechanical Engineering & Automation, Zhejiang Sci-Tech University, Hangzhou 310018, China)
Abstract: Considering the disadvantage of traditional soccer simulations for the RoboCups small size league that only fitted for one special kind of realistic player, an open simulation for the RoboCups small size league used for different kinds of realistic player was introduced. The “platform/plugin” software architecture style was applied by the open simulation software. On the basis of analyzing the simulation structure in detail, the open simulation was implemented by using the ODE library and the other tools. Finally, a method to program the plugin of the simulation and a process to compete with different kinds of players in the simulation were introduced. The research results indicate that the simulation can be used for different kinds of realistic player.
Key words: RoboCup; robot soccer; open simulation; computer simulating