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General Information
Editor-in-chief
Prof. Adrian Olaru
University Politehnica of Bucharest, Romania
I'm happy to take on the position of editor in chief of IJMO. It's a journal that shows promise of becoming a recognized journal in the area of modelling and optimization. I'll work together with the editors to help it progress.
IJMO 2012 Vol.2(5): 629-633 ISSN: 2010-3697
DOI: 10.7763/IJMO.2012.V2.197

Modeling and Simulating of Omni Directional Soccer Robot

Omid Bakhshandeh Babarsad and Maziar Ahmad Sharbafi

Abstract—Modeling and simulation in robotics research has always been one of the most beneficial ways of evaluating structural and behavioral designs before implementation in real world. Robot soccer is a research domain started from 1998 as a practical league of RoboCup international competitions. Simulating omni-directional wheels of such robots has recently been a controversial issue among developers. In this paper an innovative simulator including all the features of small size soccer robots in a 5 on 5 game, is introduced. In addition, a novel technique in modeling omni directional wheels is applied with considering just two parameters of wheels: longitude and lateral. The advantages of this simulation environment are shown via investigation of its feasible computation time and accuracy in robots' performance estimation.

Index Terms—Omni-directional wheel, robocup, soccer robot, wheel simulation.

O. Bakhshandeh is with the Electrical and Computer Engineering Department, Qazvin branch, Islamic Azad University, Qazvin, Iran. (e-mail: o.bakhshandeh@qiau.ac.ir).
M. A. Sharbafi was with Mechatronics Electrical and Computer Engineering Department, Qazvin branch, Islamic Azad University, Qazvin, Iran. (e-mail: sharbafi@qiau.ac.ir).

[PDF]

Cite: Omid Bakhshandeh Babarsad and Maziar Ahmad Sharbafi, "Modeling and Simulating of Omni Directional Soccer Robot," International Journal of Modeling and Optimization vol. 2, no. 5, pp. 629-633, 2012.

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