11.1 Setup

Webots contains a setup for robotics soccer as depicted in figure 11.1 . This setup is freely inspired from the official FIRA Small League MiroSot Games Rules. It can be modified to suit your needs.

Figure 11.1: A soccer simulation in Webots: soccer.wbt

Each team is composed of three robots. Each robot has a controller program which is aware of the the position and orientation of every robot on the soccer field. Each robot can drive its motor wheels to move on the soccer field. A supervisor process is responsible for counting the time. By default, a match lasts for 10 simulated minutes which may correspond to 1 minute if your computer is powerful and if you run the match without the real time option checked. The supervisor process also counts the goals and resets the ball and the robots to their initial positions after a goal has been scored.

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