RoboCup小型机器人仿真系统

通过对机器人硬件进行仿真，可以有效地提高控制软件的开发效率，并降低硬件的损耗。该文实现了一个RoboCup小型机器人仿真系统，该系统的仿真对象是机器人足球比赛中的所有硬件要素，包括机器人的运动学特性、击球和带球装置、视觉系统的噪声和盲区、以及无线通讯系统的延迟等。该文还分析了真实系统中各仿真对象的物理特性及其实现难点，给出了仿真系统的软件架构和接口定义，描述了各仿真功能的具体实现。通过分析仿真结果表明此系统达到了比较理想的效果，可以为其它相似系统提供有益的参考。

RoboCup Small Size Robot Simulation System

A simulation system of robot hardware can speed up the development of control software and reduce hardware loss. This paper presents a simulation system of RoboCup small size robot. It is designed to simulate all hardware parts of the game, such as dynamic model of the robot, kicking and dribbling device, noise and blind area of the vision system, and latency of the wireless system, etc. This paper also discusses the physical feature of each real part, software architecture, interface definition and implementation of each function. Result shows that it has very good performance and can offer reference for other similar systems.