一种多机器人系统仿真平台的框架结构研究

Architecture of a simulator designed for multi-robot systems

针对多机器人系统实验平台造价高,硬件容易老化、损坏等问题,提出一种仿真平台实现模拟的框架结构。仿真平台基于客户机/服务器结构,利用内核模块管理其他功能模块,引入插件概念构造传感器插件有效的实现了传感器的模拟。实验证明其易用性与实用性。

The experimental platform of multi-robot systems costs much and developers are often confronted with problems like hardware aging, malfunction and damage etc. Software architecture of a flexible simulation platform was proposed to solve these problems. This simulator was based on client/server architecture and used a kernel module to organize other functional modules. A concept of plug-in was introduced to build sensor plug-ins and they effectively achieved the simulating of varied sensors. Experiments show the simulator is usable and practicable.