The Development Of The Open Simulation For The Robot Soccer

RoboCup (The Robot World Cup Soccer Games) was a frontier interdisciplinary field of the artificial intelligence and the multi-robot technology. It was related to research and integration of information, automation, machinery, and communication. RoboCup provided a standard experimental platform for the research of the artificial intelligence and robotics. A variety of games were played on the platform for making progress in science and technology and speeding up the development of economy.During the research of the soccer robot technology, the computer simulating had become a necessary research tool before experimenting on realistic objects. Human and material resources were consumed less by using the computer simulation. And various random factors were controlled easily in the simulation experimentation. All of these made the analysis of algorithms simple.The traditional simulation systems for the robot soccer of RoboCup SSL (Small Size League) were lack of universality. They were only fitted on specific experiments and specific players. To resolve the disadvantage, an open simulation was introduced in this paper. It could be used for different kinds of realistic players and its function could be extended.On the basis of analyzing the given goal, the"Platform/Plugin"software architecture style was applied by the open simulation software. Then two core issues of the simulation system, dynamic simulation and visualization techniques, were researched in the paper. And the solution based on ODE physics engine and the OpenGL were put forward.The key point of the paper was to develop the open simulation system and implement the robosim software. After a detailed analysis of the structure and function of each module that composed the platform of the open simulation, class diagrams and definition of classes and interfaces were designed by using object-oriented programming.The distinguishing feature of the open simulation system was to use plugins extending the function of the system. The paper analyzed the dynamic model of the court of RoboCup SSL game and created a common plugin to simulate the court. Then the robot mechanical system and control system of our school's team were modeled and a private plugin for them was programmed.The result showed that the function of the open simulation system could be extended by developing specific plugins and it also could be a kind of simulation experiment tool for different kinds of player of RoboCup SSL.