Chapter

RoboCup 2011: Robot Soccer World Cup XV

Volume 7416 of the series Lecture Notes in Computer Science pp 450-460

grSim – RoboCup Small Size Robot Soccer Simulator

  • Valiallah MonajjemiAffiliated withParsian Robotic Center, Electrical Engineering Department, Amirkabir University of Technology
  • , Ali KoochakzadehAffiliated withParsian Robotic Center, Electrical Engineering Department, Amirkabir University of Technology
  • , Saeed Shiry GhidaryAffiliated withComputer Engineering and Information Technology Department, Amirkabir University of Technology

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Abstract

Realtime simulation of RoboCup small size soccer robots is a challenging task due to the high frame rate of input vision data and complex dynamic model of robots. In this paper we describe a new multi-robot 3D simulator for small size robot soccer domain named ‘grSim’. In order to decrease the model complexity and increase simulation speed, a simplified dynamic model for omni wheels is implemented. grSim has a distributed architecture, feature-rich user interface and supports all aspects of a small size robot soccer game, thus it can completely replace all hardware used by teams during software development. grSim can help software/AI developers design smarter SSL robot teams.

Keywords

Multi Robot Simulator RoboCup Small Size League Omni-directional robot modeling