一类多移动机器人运动协调仿真系统的研究与实现

Research and Implementation on Multi-robot Motion Coordination Simulation System

在多机器人系统的研究中,多移动机器人系统的运动协调性始终是热点,也是该领域的一个基础研究方向。文章使用了一类通用的多移动机器人协调控制仿真软件,通过运用基于线程的程序结构和面向对象的软件设计法,有效地实现了复杂环境下大规模移动机器人系统协调运动的实时模拟,同时采用切分窗口技术并运用数字信号传输代码,实现了多机器人运动状态和多机器人相关信息的同步显示,从而能更加方便地获取机器人数据。

In the research of multi-robot systerns,a well-attended and essential topic is the multiple mobile robots coordination.To demonstrate results of research,a general scheme of multiple mobile robots simulation system is developed.By employing thread-based program structure and object-oriented software design,the real-time simulation for large scale of mobile robots motion coordination is realized.In this paper,especially by employing object-oriented software design and splitter,as well as the code of numerical signals transmission,multi-robots＇ condition and their correlative parameters simultaneous displaying is realized,which is beneficial to get multi-robot＇s information.