多机器人协作任务的仿真设计研究

Simulation Design of Multi-Robot Cooperation

多机器人协作问题已成为机器人研究领域的一个热点,而仿真研究是多机器人协作问题的重要研究手段。为了给多机器人协作任务提供评断依据,基于对MuRoS仿真平台的扩充提出了一套针对多机器人协作任务仿真的完整设计思路。首先分析了MuRoS多机器人任务模拟环境的结构框架和功能特点,描述了它执行仿真任务的工作流程。然后提出了几种常用虚拟控制器的接口设计方法。最后,通过几个典型的协作任务的仿真实例合理调用虚拟控制器,得到了满意的运行效果,验证了设计思路的有效性。

A simulation system of robot hardware is an effectual means for studying the cooperation problem of multi - robots. In order to do evaluation effectively, this paper present a mode to design the simulation of Multi - Ro bot system based on the upgrade of the MuRoS. Firstly, the paper draws the system frame and the function, and describes the working process of the MuRoS. Then, it introduces the interface design of some representative controllers, which are designed to simulate all hardware parts of the cooperative robots. At last, cooperative simulation is realized by using the controllers correctly, and the validity of the mode is tested.