RoboCup中使用Gazebo和ROS

最新推荐文章于 2023-05-13 17:16:38 发布

伟小咖

最新推荐文章于 2023-05-13 17:16:38 发布

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本文链接：https://blog.csdn.net/wisnton/article/details/52071617

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本文探讨了如何利用ROS和Gazebo设计并实现一个机器人足球模拟系统，旨在测试多机器人协作算法。通过构建Gazebo模型，并编写模型插件来实现机器人的全方位移动、带球和射门等基本动作。将低级控制器的ROS节点替换为模型插件，同时修改行为控制和全局信息处理节点为相应的模型插件。最终，多个机器人模型在模拟世界中协同工作，成功用于多机器人协作算法的测试和调试。该模拟系统足以模拟多机器人协作，经过微调，也可应用于其他多机器人系统的研究。

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Design and Implementation of a Robot Soccer Simulation System Based on ROS and Gazebo

Abstract—Originated from Robot World Cup Middle Size League (RoboCup MSL), this paper discusses the design and implementation of a robot soccer simulation system based on ROS and Gazebo. Its aim is to test multi-robot collaboration algorithms. After building the Gazebo models, a model plugin is written to realize the robot’s basic motions including omnidirectional locomotion, ball-dribbling and ball-kicking. To integrate the model plugin with the real robot code, ROS nodes related to low-level controllers are replaced with the model plugin. In addition, nodes related to behavior control and global information processing are modified to corresponding model plugins as well. Finally, multiple robot models are spawned into a simulation world and collaborate with others. W