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The introduced simulator is mostly used as a tool in the process of strategy and control design for real robot soccer game. Therefore, its verification is done through transferability of the obtained strategy algorithms to the real system. The verification shows that the behaviour of the simulator is similar enough to the real setup, which means that the designed algorithms (strategy and low level control) can directly be used without modifications in real games as well. The designed simulator has significant improvements in comparison with the available simulator in MiroSot leagues (simulator for SimuroSot) and other available simulators; the advantages being dynamics motion modelling and a realistic shape of the robots, which contributes to a more realistic simulation of robot ball interactions, collisions with robots, robots and boundary interactions and the situations where the ball is captured between two objects (it cannot invade any object). The presented simulator proved to be a good approximation of the real system. The motion models as well as collision models give realistic descriptions, which enable the simulator designed algorithms to be used on the real system. |
