Modelling and simulation of a group of mobile robots

被引：18

作者：

Klancar, Gregor ^{[1
]}

Zupancic, Borut ^{[1
]}

Karba, Rihard ^{[1
]}

机构：

[1] Univ Ljubljana, Fac Elect Engn, Ljubljana 1000, Slovenia

来源：

SIMULATION MODELLING PRACTICE AND THEORY | 2007年 / 15卷 / 06期

关键词：

simulator; multi-agent system; collision detection; modelling; discontinuous simulation; VALIDATION; SYSTEMS;

D O I：

10.1016/j.simpat.2007.02.002

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

In this paper the mathematical background of the developed robot soccer simulator is presented. It involves robot and ball dynamic behaviour and focuses mainly on their collisions study. Vital parts of the simulator are explained and modelled in more detail, beginning with the simple model of ball and robot motion and continuing with a more complex approximate collisions models, where the real robot shape is taken into consideration. Some new ideas of collision formulation, realization and real robot shape inclusion are used. The implementation of the simulator is described and advantages for the usage of the realistic simulator are stated. (C) 2007 Elsevier B.V. All rights reserved.

引用

页码：647 / 658

页数：12

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