RoboCup Small Soccer Robot Modeling and Simulation Platform

Abstract

In the study of motion planning and motion control,it will not only cost too much but also need a long time when using real robots as player.Considering dynamic characteristic of drive-motor,the paper sets robot orientation as the positive direction of one coordinate axis,proposes the kinematic and dynamic modeling of three wheel omni-directional mobile robot;then studies the model of impact in competition and deduces the velocity of robot after collision.Based on the Robocup small soccer competition,finally a simulative tool of small soccer robot is created by using VisualC++ multi-thread,which has practical significance in robot's motion planning and motion control.At last the architecture of simulation system is presented.