摘要
该文提出了一种多移动机器人路径规划仿真系统的设计方案,并在设计的基础上实现了仿真系统OpenS im。该仿真系统由GUI、业务处理层和存储层组成。GUI是图形用户界面,将仿真系统的各种功能提供给用户;业务处理层进行仿真数据的处理,由仿真平台和各个COM组件服务器组成,机器人传感器、控制器和协调器在COM组件中实现;存储层存储仿真过程中的数据,程序通过在存储层数据库中读写数据来获得和发布信息。该系统具有很好的通用性、分布式运行能力和强大的与用户的交互能力,极大地方便了对多移动机器人路径规划算法的研究。
An architecture for multiple mobile robots path - planning simulation system is presented and a relevant simulation system OpenSim is realized. The simulation system consists of three layers, namely GUI, data - processing layer and storage layer. GUI is graphic user interface which offers functions of the simulation system. ＂Data - processing layer, which is composed of simulation platform and COM component servers, deals with the simulation data, and in COM components the sensors, controllers and coordinators of the robots are realized. Storage layer holds the data of the simulation course, and programs get and release information through reading and writing data in the database of it. The system is general and can work in distributed simulation environment, also it has good interface to interact with the users. All these characteristics of the system bring great convenience for the research work in multiple mobile robots path -planning algorithms.
出处
《计算机仿真》
CSCD
2006年第9期160-164,共5页
Computer Simulation
