Rectangles and Circles: Towards Realistic Simulation of Robots Playing Soccer

摘要

Some simulators for soccer robotics have already been developed. We propose a simulation in which robots are represented by rectangles, not by usual circles. The simulator we use is based on a new model of simulation, called SIEME. This model provides an easy way to describe its entities (e.g. the robots): an entity owns attributes described by mathematical formulas. These formulas can be time dependent. The interactions between the entities are defined by "environmental rules". Our algorithm that applies these rules is based on a discrete-event system simulation. We present some of the equations used in environmental rules to simulate interactions between robots and a ball. A first implementation of SIEME and the soccer simulation has been programmed in Smalltalk and validated by a real-time simulation. We are currently reimplementimg a version of this simulator in Java. It will serve as the basis for the soccer server used in future RoboCup competitions.