面向足球机器人比赛的开放式仿真系统

Open simulation for the robot soccer

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。

Considering the disadvantage of traditional soccer simulations for the RoboCup＇s small size league that only fitted for one special kind of realistic player, an open simulation for the RoboCup＇s small size league used for different kinds of realistic player was introduced. The ＂ptatform/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.