A physics model for the RoboCup 3D soccer simulation

  • Authors:

  • Carlos Bustamante;César Flores;Leonardo Garrido

  • Affiliations:

  • Center for Intelligent Systems, Tecnológico de Monterrey, Monterrey NL, Mexico;Center for Intelligent Systems, Tecnológico de Monterrey, Monterrey NL, Mexico;Center for Intelligent Systems, Tecnológico de Monterrey, Monterrey NL, Mexico

  • Venue:
  • SpringSim '07 Proceedings of the 2007 spring simulation multiconference - Volume 2
  • Year:
  • 2007

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Abstract

This work presents a physics model for dynamic objects in the RoboCup 3D soccer simulation league. The RoboCup 3D simulator is a computer software that allows two teams of agents to play a simulated soccer match within a 3D environment. Two kind of dynamic objects exist in such virtual world: the agents and the ball. The 3D soccer server adds noise to the agent's effectors and perceptors and does not provide any documentation of the physics model nor it can be obtained directly from the source code. Through a detailed analysis, we obtained and solved the differential equations that model the motion of dynamic objects on the field. A RoboCup 3D agent uses the resulting equations to predict its trajectory and speed over time as well as predicting the ball position and speed even in three dimensional motion. The coefficients of the motion equations were computed from noise-free data obtained from a monitor in offline mode. We show that the error between the estimated position and the real position of the dynamic objects is very small, which indicates that the model is very accurate. Finally, we show some practical applications of the motion models for a RoboCup 3D agent.