Abstract—Modeling and simulation in robotics research has always been one of the most beneficial ways of evaluating structural and behavioral designs before implementation in real world. Robot soccer is a research domain started from 1998 as a practical league of RoboCup international competitions. Simulating omni-directional wheels of such robots has recently been a controversial issue among developers. In this paper an innovative simulator including all the features of small size soccer robots in a 5 on 5 game, is introduced. In addition, a novel technique in modeling omni directional wheels is applied with considering just two parameters of wheels: longitude and lateral. The advantages of this simulation environment are shown via investigation of its feasible computation time and accuracy in robots' performance estimation.
Index Terms—Omni-directional wheel, robocup, soccer robot, wheel simulation.
O. Bakhshandeh is with the Electrical and Computer Engineering Department, Qazvin branch, Islamic Azad University, Qazvin, Iran. (e-mail: o.bakhshandeh@qiau.ac.ir).
M. A. Sharbafi was with Mechatronics Electrical and Computer Engineering Department, Qazvin branch, Islamic Azad University, Qazvin, Iran. (e-mail: sharbafi@qiau.ac.ir).
Cite: Omid Bakhshandeh Babarsad and Maziar Ahmad Sharbafi, "Modeling and Simulating of Omni Directional Soccer Robot," International Journal of Modeling and Optimization vol. 2, no. 5, pp. 629-633, 2012.
Copyright © 2008-2024. International Journal of Modeling and Optimization. All rights reserved.
E-mail: ijmo@iacsitp.com