一种开放式机器人足球比赛仿真系统的研究  

Development of open simulation system for robot soccer

作　　者：符德晓[1] 李晓明[1] 

机构地区：[1]浙江理工大学机械与自动控制学院,浙江杭州310018

出　　处：《机电工程》2011年第1期55-59,共5页Journal of Mechanical & Electrical Engineering

摘　　要：机器人足球是学术研究的良好平台,尤其是在人工智能和多智能体系统领域。仿真技术是机器人足球研究中广泛采用的一种手段,可以在很大程度上降低研究的成本,提高科研效率。针对"仿真技术在足球机器人中的应用还不够充分"的问题,提出了一种基于平台/插件结构的机器人足球仿真系统,并采用了C/S的系统模型,将仿真系统的核心平台与显示模块分离,大大提高了仿真系统运行的速度和三维场景的显示效果。通过对仿真模型和ODE参数的优化,进一步提高了仿真系统的性能。研究与实际应用结果表明,通过平台/插件的这种体系结构,以及基于C/S的三维显示模型,系统性能得到大幅改进,并为球队策略系统的仿真提供了极大的灵活性和可扩展性。Robot soccer is considered as a good platform and test field for academic researches,especially for artificial intelligence and multi-agent system.Simulation technology was widely used in the development in order to lower the cost and improve the research efficiency.Aiming at the deficient use of the simulation in the robot soccer,an open simulation system was put forward based on the platform/plug-in structure.The C/S model was adopted to separate the core of the simulation platform with the 3D display module,so that the speed of simulation calculating and scene rendering were both improved greatly.The performance of the simulation system was also improved by optimizing the ODE parameters and the simulation model.The results indicate that the great flexibility and expandability were brought by the platform/plug-in mechanism and C/S based 3D display model.

关 键 词：机器人足球 开放式仿真比赛系统 平台+插件 C/S 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]