基于Web的自主式移动机器人的调试仿真环境

Web Based Debugging and Simulation Environment for Autonomous Mobile Robot

提出了一种采用浏览器/服务端和客户端/服务端混合结构的机器人调试与仿真环境,该环境部分采用了网页技术,适用于调试和仿真多智能主体系统结构的自主移动机器人.在介绍其组成结构的基础上,详细分析了自主移动机器人调试和仿真的结构,讨论了在实时在线监控、离线数据回放、模拟仿真、真实数据仿真等几种情况下的工作模式及作用.实验结果表明,该调试仿真环境能有效地对自主移动机器人进行监控、跟踪、记录、调试、仿真,在实际项目开发中提高了系统的开发效率,缩短了开发周期.

This paper addresses issues in the design of an Autonomous Mobile Robot Debugging and Simulation Environment （AMRDSE） combining the B/S with C/S structure. The AMRDSE partly uses the web-based technology, suitable for debugging and emulating MAS-based AMR （Autonomous Mobile Robot）. After briefly introducing the components of AMR, the paper analyzes the structure of AMRDSE in detail and shows about how AMRDSE works in four different situations： real time on-line monitor, off-line data replay, simulative emulation, real data emulation. The experiments showed that AMRDSE can effectively monitor, track, record, debug and emulate the AMR system and thus greatly promotes the efficiency of the AMR system research and reduces the research period.