Mathematics Model of Soccer Robot System Simulation

摘要

The motion disciplinarian of entities in the real world of robot soccer game were discussed. The kinematics models of the ball and nonholonomic mobile robots were given. A kind of geometry method was presented to get precision solution of robot kinematics model. This method can decrease computation burden.The collision models of robots,ball and ground walls were given, and the collision procedure of 2 robots was expounded. These works provide a base for the development of soccer robot system simulation platform and robot's motion control.