多自主移动机器人计算机仿真系统的设计与实现

Simulation System Design and Realization for Multiple Autonomous Mobile Robot System

提出了一种多移动机器人计算机仿真系统的设计方案,开发并实现了在局域网上以服务器-客户端模式工作的基于二维平面模型的多移动机器人仿真系统。该系统提供的环境建模及实时修正功能,参数可调的传感器模型,通讯协议,算法设计相对独立的特点极大地方便了多移动机器人系统的研究工作。

Architecture for the multiple mobile robot simulation system is presented and realized. The simulation system is based on client-server architecture. And planar model is used for environment, sensor, and robot modeling. The system supplies online modification of environment model, parameter adjustment of sensor model and robot model, communication protocol, friendly interface. The user's control algorithm is designed as a replaceable module, which is relatively independent in the system. The simulation system brings the multiple mobile robot system research more convenience.